Marathoner tracking algorithms for a high speed mobile robot

Eui Jung Jung, Jae Hoon Lee, Byung Ju Yi, Il Hong Suh, Shin'ichi Yuta, Si Tae Noh

研究成果: Conference contribution

13 引用 (Scopus)

抜粋

This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust tracking by a laser range finder. Next an obstacle avoidance algorithm considering the relative velocity between the robot and obstacles is proposed. It is shown that the proposed human tracking algorithms based on the Kalman filter performs well even in the case of the target occlusions and temporary losses. These tracking algorithms have been applied to a marathoner following robot that carries the marathoner's personal belongings in many different outdoor environments.

元の言語English
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ3595-3600
ページ数6
DOI
出版物ステータスPublished - 2011 12 29
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
継続期間: 2011 9 252011 9 30

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
United States
San Francisco, CA
期間11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • これを引用

    Jung, E. J., Lee, J. H., Yi, B. J., Suh, I. H., Yuta, S., & Noh, S. T. (2011). Marathoner tracking algorithms for a high speed mobile robot. : IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 3595-3600). [6048379] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048379