The detection and following of human legs through inductive approaches for a mobile robot with a single laser range finder

Woojin Chung; Hoyeon Kim; Yoonkyu Yoo; Chang Bae Moon; Jooyoung Park

doi:10.1109/TIE.2011.2170389

The detection and following of human legs through inductive approaches for a mobile robot with a single laser range finder

Woojin Chung, Hoyeon Kim, Yoonkyu Yoo, Chang Bae Moon, Jooyoung Park

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

124 Citations (Scopus)

Abstract

The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.

Original language	English
Pages (from-to)	3156-3166
Number of pages	11
Journal	IEEE Transactions on Industrial Electronics
Volume	59
Issue number	8
DOIs	https://doi.org/10.1109/TIE.2011.2170389
Publication status	Published - 2012 Aug

Bibliographical note

Funding Information:
Manuscript received January 28, 2010; revised August 26, 2010, May 6, 2011, and July 24, 2011; accepted September 7, 2011. Date of publication October 3, 2011; date of current version March 30, 2012. This work was supported in part by the Ministry of Knowledge Economy (MKE) under the Human Resources Development Program for Convergence Robot Specialists under Grant NIPA-2011-C7000-1001-0005, by MKE under the Information Technology Research Center Support Program under Grant NIPA-2009-C1090-0902-0007, and by the Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology under Grant 2010-0022609. This work was also supported in part by an NRF grant funded by the Korean government (MEST) (2011-0016225).

Keywords

Human following
human-robot interaction
leg detection
mobile robot navigation

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TIE.2011.2170389

Cite this

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title = "The detection and following of human legs through inductive approaches for a mobile robot with a single laser range finder",

abstract = "The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.",

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note = "Funding Information: Manuscript received January 28, 2010; revised August 26, 2010, May 6, 2011, and July 24, 2011; accepted September 7, 2011. Date of publication October 3, 2011; date of current version March 30, 2012. This work was supported in part by the Ministry of Knowledge Economy (MKE) under the Human Resources Development Program for Convergence Robot Specialists under Grant NIPA-2011-C7000-1001-0005, by MKE under the Information Technology Research Center Support Program under Grant NIPA-2009-C1090-0902-0007, and by the Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology under Grant 2010-0022609. This work was also supported in part by an NRF grant funded by the Korean government (MEST) (2011-0016225).",

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The detection and following of human legs through inductive approaches for a mobile robot with a single laser range finder

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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