TY - GEN
T1 - Human tracking of a mobile robot with an onboard LRF (Laser Range Finder) using human walking motion analysis
AU - Sung, Yoonchang
AU - Chung, Woojin
PY - 2011
Y1 - 2011
N2 - Nowadays, human-following is becoming one of the key issues of a human-robot interaction. An LRF (Laser Range Finder) might be the appropriate sensor in dealing with a human-following since it gives accurate information on a distance. Both extracting leg images from an LRF and interpreting those images over a time period as a same person are important. In this paper, we propose how to group legs into a person from laser scanned images and how to track a target person robustly over a time period using attributes we defined. The proposed methods were successfully verified through an experiment.
AB - Nowadays, human-following is becoming one of the key issues of a human-robot interaction. An LRF (Laser Range Finder) might be the appropriate sensor in dealing with a human-following since it gives accurate information on a distance. Both extracting leg images from an LRF and interpreting those images over a time period as a same person are important. In this paper, we propose how to group legs into a person from laser scanned images and how to track a target person robustly over a time period using attributes we defined. The proposed methods were successfully verified through an experiment.
KW - Human-following
KW - Human-robot interaction
KW - LRF
KW - Tracking method
UR - http://www.scopus.com/inward/record.url?scp=84857332008&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84857332008&partnerID=8YFLogxK
U2 - 10.1109/URAI.2011.6145998
DO - 10.1109/URAI.2011.6145998
M3 - Conference contribution
AN - SCOPUS:84857332008
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 366
EP - 370
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -