2層レーザレンジセンサによる急加減速を伴う複数人物の検出・追跡

• 橋本 雅文

  同志社大学理工学部

• 根田 知樹

  同志社大学大学院工学研究科

• 白 志濤

  同志社大学大学院工学研究科

• 高橋 和彦

  同志社大学理工学部

書誌事項

タイトル別名

• Detection and Tracking of People with Sudden Changes in Motion Using Two-Layered Laser Range Sensors

抄録

This paper presents a people tracking system with multiple sensor nodes allocated in an environment. Each sensor node consists of a two-layered laser range sensor (LRS) that detects the positions of heads and knees of people. From the laser images of the people, heuristic-rule-based and global-nearest-neighbor (GNN)-based data association can identify a large number of people in crowded environments. The identified people are tracked via a model-based tracker; the interacting multiple model (IMM) estimator is applied to track people suddenly changing in motion, such as walking, running, going/stopping suddenly, and turning suddenly. Simulation and experimental results validate our people tracking method.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 78 (785), 138-150, 2012

  一般社団法人 日本機械学会

キーワード

• People Tracking
• Laser Range Sensor
• Interacting Multiple Model Estimator
• Global Nearest Neighbor

詳細情報

• CRID: 1390282681363596288
• NII論文ID: 130002051280
• DOI: 10.1299/kikaic.78.138
• ISSN: 18848354
• ISSN: 03875024
• Web Site: http://www.jstage.jst.go.jp/article/kikaic/78/785/78_785_138/_pdf
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可