Naslov
Tracking of Humans and Robots using Laser Range Finders

Autori
Brščić, Dražen ; Sasaki, Takeshi ; Hashimoto, Hideki

Izvornik
Sic (Zadar) (1847-7755) 1 (2008), 5; 383-392

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
mobile robot ; laser range finders ; human tracking

Sažetak
There exist various applications where tracking of humans in an area is needed. An example of such applications are Intelligent Spaces, where humans and robots share a common space and their positions are tracked by a system of sensors in the space. In this paper a system for tracking both humans and robots that utilizes laser range finders as sensing devices is described. The details of the extraction of objects from the laser scan, data association and estimation are given, and results of tracking humans and robots are described. Calibration of the distributed laser range finders, which is important for the operation of the tracking system is also described, both in a manual and automated variant and experimental results are given. Finally, the inclusion of a laser range finder onboard the mobile robot in the tracking process is also discussed and accompanied with experimental results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA