1P1-E05 Laser Based Pedestrian Tracking by Multi-Mobile Robots in Outdoor Environments(3D Measurement/Sensor Fusion)
Masataka Ozaki, Masafumi Hashimoto, Kazuhiko Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
This paper presents a laser based pedestrian tracking by multi-mobile robots in outdoor environments. Each robot finds pedestrians from its own laser scan image based on an occupancy-grid-based method, and it tracks the detected pedestrians via Kalman filtering and Global-nearest-neighbor-based data association. The tracking data are broadcasted to multi-robots through intercommunication, and they are blended based on Covariance Intersection. For the pedestrian tracking, each robot identifies its own posture based on RTK-GPS and laser scan matching. By our tracking method, all the robots share the tracking data with each other, so that they can always recognize pedestrians that are invisible to any robots. The experimental results of tracking three pedestrians by three mobile robots validate the proposed method.