Detection of Mobile Objects by Mixture PDF Model for Mobile Robots
Detection of Mobile Objects by Mixture PDF Model for Mobile Robots
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DOI：
10.5687/iscie.25.308
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
Masahiro Tanaka;Masahiro Wada;T. Umetani;Minoru Ito
中科院分区：
文献类型：
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作者：
Masahiro Tanaka;Masahiro Wada;T. Umetani;Minoru Ito
作者一直在开发一个移动的机器人与传感器的各种服务在大学校园。大学校园的一个显著特点是户外环境中有大量的行人。这一特点在汽车停运的购物街也很典型。本文提出了一种应用随机模型的观察和状态转换检测移动的目标，而定位过程。该模型可以在非线性卡尔曼滤波器的框架中处理。在本文中，我们实现了检测算法的在线模式。实验结果验证了该算法的有效性。
The authors have been developing a mobile robot with sensors for various services in the university campus. A prominent feature of university campus is a substantial amount of pedestrians in the outdoor environment. This feature is also typical in the shopping streets where cars are shutout. This paper proposes an application of a stochastic model for the observation and state transition for detecting mobile objects while the localization process. This model can be treated in the framework of nonlinear Kalman filter. In this paper, we implemented the detection algorithm in the offline mode. We demonstrate the experimental detection results, which validate the usefulness of the proposed algorithm.