Detection of Mobile Objects by Mixture PDF Model for Mobile Robots

• Tanaka Masahiro

  Faculty of Intelligence and Informatics, Konan University

• Wada Masahiro

  Faculty of Intelligence and Informatics, Konan University

• Umetani Tomohiro

  Faculty of Intelligence and Informatics, Konan University

• Ito Minoru

  Dept. of Control Engineering, Maizuru National College of Technology

Abstract

The authors have been developing a mobile robot with sensors for various services in the university campus. A prominent feature of university campus is a substantial amount of pedestrians in the outdoor environment. This feature is also typical in the shopping streets where cars are shutout. This paper proposes an application of a stochastic model for the observation and state transition for detecting mobile objects while the localization process. This model can be treated in the framework of nonlinear Kalman filter. In this paper, we implemented the detection algorithm in the offline mode. We demonstrate the experimental detection results, which validate the usefulness of the proposed algorithm. <br>

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 25 (11), 308-315, 2012

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• localization
• mobile robot
• mixture model
• obstacle detection

Details

• CRID: 1390282680142373632
• NII Article ID: 10031159517
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.25.308
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 024110996
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I024110996
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed