Detection and Tracking of People with Sudden Changes in Motion Using Two-Layered Laser Range Sensors
Detection and Tracking of People with Sudden Changes in Motion Using Two-Layered Laser Range Sensors
复制标题
使用两层激光测距传感器检测和跟踪运动突然变化的人
DOI：
10.1299/kikaic.78.138
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Kazuhiko Takahashi
中科院分区：
文献类型：
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作者：
M. Hashimoto;T. Konda;Zhitao Bai;Kazuhiko Takahashi
本文提出了一种在环境中分配多个传感器节点的人员跟踪系统。每个传感器节点由两层激光测距传感器（LRS）组成，用于检测人的头部和膝盖的位置。根据人员的激光图像，基于启发式规则和基于全局最近邻（GNN）的数据关联可以识别拥挤环境中的大量人员。通过基于模型的跟踪器来跟踪已识别的人员；交互多模型（IMM）估计器用于跟踪人们运动中的突然变化，例如行走、跑步、突然走/停和突然转弯。仿真和实验结果验证了我们的人员跟踪方法。
This paper presents a people tracking system with multiple sensor nodes allocated in an environment. Each sensor node consists of a two-layered laser range sensor (LRS) that detects the positions of heads and knees of people. From the laser images of the people, heuristic-rule-based and global-nearest-neighbor (GNN)-based data association can identify a large number of people in crowded environments. The identified people are tracked via a model-based tracker; the interacting multiple model (IMM) estimator is applied to track people suddenly changing in motion, such as walking, running, going/stopping suddenly, and turning suddenly. Simulation and experimental results validate our people tracking method.
跟踪 3D 空间中的移动物体
DOI：
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发表时间：
2008
期刊：
日本ロボット学会誌 26 巻
影响因子：
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作者：
Dezhang;Wang;Hidekazu;Nishimura;Taro Shimogo;倉爪亮
通讯作者：
倉爪亮