Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Estimation of People Tracking by Kalman Filter based Observations from Laser Range Sensor

레이저스케너 센서기반의 칼만필터 관측을 이용한 사람이동예측

  • 진태석 (동서대학교 메카트로닉스공학과)
  • Received : 2019.02.28
  • Accepted : 2019.05.08
  • Published : 2019.06.30
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Abstract

For tracking a varying number of people using laser range finder, it is important to deal with appearance/disappearance of people due to various causes including occlusions. We propose a method for tracking people with automatic initialization by integrating observations from laser range finder. In our method, the problem of estimating 2D positions and orientations of multiple people's walking direction is formulated based on a mixture kalman filter. Proposal distributions of a kalman filter are constructed by using a mixture model that incorporates information from a laser range scanner. Our experimental results demonstrate the effectiveness and robustness of our method.

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Fig. 1 Estimation of the leg position

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Fig. 2 Kalman filter processing

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Fig. 3 Mobile robot for experiment

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Fig. 4 Experimental Results

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