Laser-Based Pedestrian Tracking by Multi-Mobile Robots
Laser-Based Pedestrian Tracking by Multi-Mobile Robots
复制标题
多移动机器人基于激光的行人跟踪
DOI：
10.1299/kikaic.78.568
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：
--
作者：
M. Hashimoto;Masataka Ozaki;Takumi Yokoyama;Kazuhiko Takahashi
This paper presents a laser based pedestrian tracking by multi-mobile robots in vicinity. Each robot finds moving people (pedestrians) from its own laser scan image based on an occupancy-grid-based method, and it tracks the detected pedestrians via Kalman filtering and Global-nearest-neighbor-based data association. The tracking data are broadcasted to multi-robots through intercommunication, and they are blended based on Covariance Intersection. By our tracking method, all the robots share the data of tracked pedestrians with each other, so that they can always recognize the pedestrians that are invisible to any robots. The simulation and experimental results validate the proposed method.
