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The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder

【摘要】 The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.

【期刊名称】 Industrial Electronics, IEEE Transactions on

【作者】 Woojin Chung;

【作者单位】

【收录信息】

【年(卷),期】2012(59),8

【年度】2012

【页码】p.3156-3166

【总页数】11

【原文格式】PDF

【正文语种】eng

【中图分类】

【原文服务方】国家工程技术数字图书馆

【关键词】

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