2P1-K08 People Detection and Tracking with 3-D Laser Range Finder and ESPAR antenna(Vision System for Mobile Robot)
Kazuki Misu, Jun Miura, Junji Satake · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This paper describes a people detection and tracking with 3-D laser range finder and ESPAR (Electronically Steerable Passive Array Radiator) antenna. Our method works follows. First, we cluster 3-D points above the ground, calculate their features, and detect people clusters with a classifier trained by a boosting algorithm. Second, the information of detected people is integrated temporally using the Kalman filter. Lastly, we calculate their likelihoods from the difference between the directions pointed by the ESPAR antennas and those for the detected people to determine the one with the highest likelihood as the target. If all likelihoods are lower than a threshold, we use a likelihood map calculated from ESPAR antennas information to estimate the position of the target person. We developed an experimental system by installing the software for people tracking, path planning, and mapping, and tested it in an outdoor environment.