People tracking with multiple laser range sensors
Hiroshi Nishimura, Masafumi Hashimoto, Yosuke Matsui, Kazuhiko Takahashi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2007
This paper presents a decentralized method for people tracking with multiple 2D laser range sensors (LRSs) allocated in environments. Moving people which are detected from laser images with the LRSs are tracked based on Kalman filter, the assignment algorithm and Covariance Intersection method. A rule based on track management system is embedded into the tracking system in order to improve the tracking performance. The experimental results of people tracking validate this proposed method.