Pedestrian Recognition and Tracking of Dancing Robot Based on Laser Scanner
Zhao Liu, Libin Song, Mei-Xiao GENG, Tao Yu, Zeng-Xi WANG · DEStech Transactions on Computer Science and Engineering · 2017
Dancing robot should plan a dynamic path based on the motion of pedestrians to ensure the safety of others, so a pedestrian recognition and tracking method based on laser scanner is proposed. At first, the data collected by the laser is preprocessed. To segment the environment rapidly, the DBSCAN algorithm is optimized to cluster the data. Then a pedestrian recognition method is proposed by using the distance from cluster to laser scanner and pedestrian width range. At last, the laser data is converted into video data frames. So the particle filter algorithm is adopted to track the moving pedestrian. Experimental results show that the proposed method has a good real-time performance and high application value.