Paper Info
Title
Human detection and tracking with knee-high mobile 2D LIDAR
Abstract
Human-robot interaction and safe operation requires human detection capability from a mobile robot. This paper presents a novel algorithm for detecting and tracking walking humans with a 2D LIDAR (Light Detection and Ranging) on a mobile robot. The horizontal LIDAR receives reflections of human legs taken from approximately the knee level. A list of predefined features are used for classifying the reflections as clusters, which are then tracked separately. If two clusters fulfill predefined conditions to be classified as legs, and if they are close enough, a human target is generated and tracked using the reflections of the legs. The probability of a human target to actually be a human is constantly evaluated based on numerous features. Experimental results performed with a mobile robot verify that the algorithm is able to detect and track people in typical indoor environment.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181529
ROBIO
Keywords
Field
DocType
light detection and ranging,reflection classification,operational safety,human-robot interaction,mobile robots,predefined feature list,knee-high mobile 2d lidar,walking human detection,optical radar,object tracking,object detection,indoor environment,walking human tracking,mobile robot,safety,horizontal lidar,human legs,robot vision,probability,laser radar,tracking,human robot interaction,radar tracking
Computer vision,Object detection,Radar tracker,Lidar,Ranging,Video tracking,Artificial intelligence,Engineering,Optical radar,Mobile robot,Human–robot interaction
Conference
ISBN
Citations 
PageRank 
978-1-4577-2136-6
1
0.37
References 
Authors
12
2
Name
Order
Citations
PageRank
Tapio Taipalus1121.92
Juhana Ahtiainen241.17