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

  • 제22권3호
  • /
  • Pages.265-272
  • /
  • 2019
  • /
  • 1226-833X(pISSN)
  • /
  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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레이저스케너 센서기반의 칼만필터 관측을 이용한 사람이동예측

Estimation of People Tracking by Kalman Filter based Observations from Laser Range Sensor

  • 진태석 (동서대학교 메카트로닉스공학과)
  • 투고 : 2019.02.28
  • 심사 : 2019.05.08
  • 발행 : 2019.06.30
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초록

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.

키워드

SOOOB6_2019_v22n3_265_f0001.png 이미지

Fig. 1 Estimation of the leg position

SOOOB6_2019_v22n3_265_f0002.png 이미지

Fig. 2 Kalman filter processing

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Fig. 3 Mobile robot for experiment

SOOOB6_2019_v22n3_265_f0004.png 이미지

Fig. 4 Experimental Results

참고문헌

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  3. M. Mazo, A. Speranzon, K. Johansson, and X. Hu, "Multi-robot tracking of a moving object using directional sensors," in IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, April 2004, pp. 1103-1108.
  4. A. Georgiev and P. K. Allen, "Localization methods for a mobile robot in urban environments," IEEE Trans. on Robotics, vol.20, no.5, pp.851-864, October 2004. https://doi.org/10.1109/TRO.2004.829506
  5. A. I. Mourikis and S. I. Roumeliotis, "Performance bounds for cooperative simultaneous localization and mapping (C-SLAM)," in Proc. of Robotics: Science and Systems, Cambridge, MA, pp.73-80, June 2005.
  6. TaeseokJin, JangMyung Lee, and Hideki Hashimoto, "Position Estimation of Mobile Robot using Images of Moving Target in Intelligent Space with Distributed Sensors," Advanced Robotics, The Robotics Society of Japan, vol.20, no.6, pp.737-762, June 2006.
  7. TaeseokJin, "Human Legs Stride Recognition and Tracking based on the Laser Scanner Sensor Data," Journal of the Korea Institute of Information and Communication Engineering, vol.23, no.3, pp.247-253, 2019. https://doi.org/10.6109/JKIICE.2019.23.3.247
  8. Taeseok Jin, "Control and Calibration for Robot Navigation based on Light's Panel Landmark," Journal of The Korean Society of Industry Convergence, vol.20, no.2, pp.89-95, 2017. https://doi.org/10.21289/KSIC.2017.20.2.089