engleski

Real-Time Human Body Motion Estimation Based on Multi- Layer Laser Scans

Real time human body motion estimation plays an important role in the perception for robotics nowadays, especially for the applications of human robot interaction and service robotics. In this paper, we propose a method for real-time 3D human body motion estima- tion based on 3-layer laser scans. All the useful scanned points, presenting the human body contour information, are subtracted from the learned background of the envi- ronment. For human contour feature extraction, in or- der to avoid the situations of unsuccessful segmentation, we propose a novel iterative template matching algorithm for clustering, where the templates of torso and hip sec- tions are modeled with different radii. Robust distinct hu- man motion features are extracted using maximum likeli- hood estimation and nearest neighbor clustering method. Subsequently, the positions of human joints in 3D space are retrieved by associating the extracted features with a pre-defined articulated model of human body. Finally we demonstrate our proposed methods through experiments, which show accurate human body motion tracking in real time.

human body motion estimation ; multi-layer laser scans ; iterative template matching for clustering

nije evidentirano