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http://dx.doi.org/10.21289/KSIC.2019.22.3.265

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

Jin, Taeseok (Dept. of Mechatronics Ddongeo University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.22, no.3, 2019 , pp. 265-272 More about this Journal
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.
Keywords
People tracking; laser range scanner; Kalman filter; mobile robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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