Name
Abstract | ||
|---|---|---|
This paper presents a method for moving-object tracking with in-vehicle 2D-laser range sensors (LRS). Since a sensing area of the LRS is limited in orientation, mobile robot is equipped with multi-LRS's for omnidirectional sensing. In order for moving-object tracking by multi-LRS's cooperation, the coordinate frames of the multi-LRS's are calibrated based on Kalman filter and chi-hypothesis testing. The moving-object tracking is achieved by Kalman filter, Covariance Intersection and the assignment algorithm based data association. A rule based track management system is embedded into the tracker in order to improve the tracking performance. The experimental result of three people tracking in indoor environments validates the proposed method. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBIO.2007.4522195 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 |
Keywords | Field | DocType |
mobile robot, multi-laser range sensors, moving-object tracking, Kalman filter, data association | Omnidirectional antenna,Computer vision,Covariance intersection,Tracking system,Kalman filter,Sensor fusion,Control engineering,Video tracking,Artificial intelligence,Mobile robot navigation,Engineering,Mobile robot | Conference |
Citations | PageRank | References |
6 | 0.54 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Masafumi Hashimoto | 1 | 150 | 30.50 |
| Kazuhiko Takahashi | 2 | 6 | 0.54 |
| Yosuke Matsui | 3 | 6 | 0.88 |