로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제6권1호
  • /
  • Pages.86-96
  • /
  • 2011
  • /
  • 1975-6291(pISSN)
  • /
  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지
DOI QR코드

DOI QR Code

단일레이저거리센서를 탑재한 실내용이동서비스로봇의 사람추종

Human following of Indoor mobile service robots with a Laser Range Finder

  • 유윤규 (고려대학교 기계공학부) ;
  • 김호연 (고려대학교 기계공학부) ;
  • 정우진 (고려대학교 기계공학부) ;
  • 박주영 (고려대학교 제어계측공학과)
  • 투고 : 2010.09.27
  • 심사 : 2010.12.22
  • 발행 : 2011.02.28
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

키워드

참고문헌

  1. X. Ma, C. Hu, X. D, et al, "Sensor integration for person tracking and following with mobile robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, Nice,France,2008.
  2. H. Kwon, Y. Yoon, J. B. Par, et al, "Person tracking with a mobile robot using two uncalibrated independently moving cameras," in IEEE International Conference on robotics and Automation, Barcelona, Spain, pp.2877-2883,2005.
  3. N. Belotto, H. Hu., "Multisensor-Based Human Detection and Tracking for Mobile Service Robots," in IEEE Transactions on Systems, Man, and Cybernetics, Vol.39, NO.1, pp167-181, 2009. https://doi.org/10.1109/TSMCB.2008.2004050
  4. A. Carballo, A. Ohya and S. Yuta," Multiple People Detection from a Mobile Robot using Double Layered Laser Range Finders," in IEEE International Conference on Robotics and Automation, Japan, May 2009.
  5. Akira Ohshima, Shin'ichi Yuta, "Tracking and Following People and Robots in Crowded Environment by a Mobile Robot with SOKUIKI Sensor," Distributed Autonomous Robotic Systems 8, pp.575-584.
  6. K. Nakamura, H. Zhao, and et al., "Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation," Systems and Computers in Japan, Vol.37, No.7, pp.1-11, 2006. https://doi.org/10.1002/scj.20578
  7. M. Montemerlo, S. Thrun, W. Whittaker, "Conditional particle filters for simultaneous mobile robot localization and people tracking," in IEEE International conference on Intelligent Robots and Systems, Washington, USA, Vol.1, pp.695-701, 2002.
  8. J. Xavier, M. Pacheco, D. Castro, et al. "Fast line, arc/circle and leg detection from laser scan data in a player driver," in IEEE International conference on Robotics and Automation, pp.3930-3935, Barcelona, Spain, 2005.
  9. Pawel Kmiotek, Yassine Ruichek, "Representing and Tracking of Dynamics Objects using Oriented Bounding Box and Extended Kalman Filter," Intelligent Transportation Systems, 2008. ITSC 2008, Beijing, China, pp.322-328, Oct. 2008.
  10. David Fernandez, Ignacio Parra, Miguel Angel Sotelo, Pedro A. Revenga, "Bounding Box Accuracy in Pedestrian Detection for Intelligent Transportation Systems," IEEE Industrial Electronics, IECON 2006 -32nd Annual Conference, Paris, France, pp. 3486-3491, Nov. 2006.
  11. E.T.Hall., The Hidden Dimension. Doubleday, New York, 1966.
  12. D. Tax and R. Duin, "Support Vector Domain Description," Pattern Recognition Letters, Vol.20, pp. 1191-1199, 1999. https://doi.org/10.1016/S0167-8655(99)00087-2
  13. J. E. Bresenham, An incremental algorithm for digital plotting. ACM National Conference (August 1963).
  14. Murray, M.P., Drought,A.B., Kory,R.C. "Walking patterns of normal men," Journal of Bone and Joint Surgery 46(2), 335-360(1964). https://doi.org/10.2106/00004623-196446020-00009
  15. Armin Bruderlin, Thomas W. Calvert, school of computer science Simon Fraser University, "Goal-Directed, Dynamic Animation of Human Walking," Computer graphics Vol.23, Nubmer3, July 1989.
  16. Franocis Faure, Gilles Debunne, Marie-Paule Cani-Gascuel, Franck Multon, France, "Dynamic analysis of human walking," in 8th Eurographics Workshop on Computer Animation and Simulation, 1997.