Tracking multiple moving objects for mobile robotics navigation
Tracking multiple moving objects for mobile robotics navigation
复制标题
跟踪多个移动物体以进行移动机器人导航
DOI：
10.1109/etfa.2005.1612521
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
R. Araújo
中科院分区：
文献类型：
--
作者：
J. Almeida;A. T. Almeida;R. Araújo
对于动态环境中的移动的车辆导航，期望机器人具有世界的动态方面的模型。在本文中，我们提出了一种方法，用于检测和跟踪多个运动目标的传感器信息。该方法使用粒子滤波器来估计对象的状态，和基于样本的联合概率数据关联滤波器执行从传感器数据中检测到的特征到滤波器的分配。提出了一种基于占用网格的感知机制，用于区分移动的特征和静态对象。实验结果表明，该方法是可行的，有效的，实时实现使用激光测距传感器
For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features detected from sensor data to filters. A perception mechanism, based on occupancy grids, is presented to distinguish between mobile features and static objects. Experimental results from a real-time implementation using a laser range sensor are presented demonstrating the feasibility and effectiveness of the presented methods