Torso detection and tracking using a 2D laser range finder
Zulkarnain Zainudin, Sarath Kodagoda, Gamini Dissanayake · UTS ePRESS (University of Technology Sydney) · 2010
Detecting and tracking people in populated environments has various applications including, robotics, healthcare, automotive, security and defence. In this paper, we present an algorithm for people detection and tracking based on a two dimensional laser rage finder (LRF). The LRF was mounted on a mobile robotic platform to scan a torso section of a person. The tracker is designed to discard spurious targets based on the log likelihood ratio and can effectively handle short term occlusions. Long term occlusions are considered as new tracks. Performance of the algorithm is analysed based on experiments, which shows appealing results. 1