3P1-K05 Laser-based Size and Posture Estimation of Moving Objects with Multiple Mobile Robots(3D Measurement/Sensor Fusion)
Ryunosuke IZUMI, Yuto Tamura, Masafumi Hashimoto, Kazuhiko Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2014
This paper presents a laser-based moving-object tracking system by multiple mobile robots in outdoor environments. For moving-object tracking, each robots identify its own postures using real-time-kinematic(RTK)-GPS. Each of the robots detects moving objects using its own laser scan image by an occupancy-grid-based method. It sends the information of the detected moving objects to the central server through intercommunication. The central server estimates position and velocity of moving objects via Kalman filtering based on received information. And also it estimates size of moving objects, and their estimates are fed back to the robots. Two experimental results show the performance of our tracking system.