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Multisensor-based human detection and tracking for mobile service robots

Bellotto, N and Hu, H (2009) 'Multisensor-based human detection and tracking for mobile service robots.' IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39 (1). 167 - 181. ISSN 1083-4419

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Abstract

One of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In this paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based leg detection using the onboard laser range finder (LRF). The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to also be very discriminative in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera, and the information is fused to the legs' position using a sequential implementation of unscented Kalman filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms. Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments. © 2008 IEEE.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 06 Mar 2013 11:47
Last Modified: 17 Aug 2017 18:03
URI: http://repository.essex.ac.uk/id/eprint/5517

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