TY - GEN
T1 - Marathoner tracking algorithms for a high speed mobile robot
AU - Jung, Eui Jung
AU - Lee, Jae Hoon
AU - Yi, Byung Ju
AU - Suh, Il Hong
AU - Yuta, Shin'ichi
AU - Noh, Si Tae
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455179819&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455179819&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048379
DO - 10.1109/IROS.2011.6048379
M3 - Conference contribution
AN - SCOPUS:84455179819
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3595
EP - 3600
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -