The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Human following of Indoor mobile service robots with a Laser Range Finder

단일레이저거리센서를 탑재한 실내용이동서비스로봇의 사람추종

  • 유윤규 (고려대학교 기계공학부) ;
  • 김호연 (고려대학교 기계공학부) ;
  • 정우진 (고려대학교 기계공학부) ;
  • 박주영 (고려대학교 제어계측공학과)
  • Received : 2010.09.27
  • Accepted : 2010.12.22
  • Published : 2011.02.28
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Abstract

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.

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References

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