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PERSON-FOLLOWING ALGORITHM BASED ON LASER RANGE FINDER AND MONOCULAR CAMERA DATA FUSION FOR A WHEELED AUTONOMOUS MOBILE ROBOT
Форма представленияСтатьи в зарубежных журналах и сборниках
Год публикации2020
Языканглийский
  • Магид Евгений Аркадьевич, автор
  • Сафин Рамиль Набиуллович, автор
  • Чеботарева Эльвира Валерьевна, автор
  • Библиографическое описание на языке оригинала Chebotareva E, Safin R, Hsia K.-H, Person-Following Algorithm Based on Laser Range Finder and Monocular Camera Data Fusion for a Wheeled Autonomous Mobile Robot//Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2020. - Vol.12336 LNAI, Is.. - P.21-33.
    Аннотация Reliable human following is one of the key capabilities of service and personal assisting robots. This paper presents a novel person tracking and following approach for autonomous mobile robots that are equipped with a 2D laser rangefinder (LRF) and a monocular camera. The proposed method does not impose restrictions on a person's clothes, does not require a head or an upper body to be within a camera field of view and is suitable for low height indoor robots as well. The algorithm is based on a metric that takes into an account parameters obtained directly from LRF and monocular camera data. The algorithm was implemented and tested in the Gazebo simulator. Next, it was integrated into a control system of the TIAGo Base mobile robot and successfully validated in university environment experiments with real people. In addition, this paper proposes a new criterion of algorithm performance estimation, which is a function of false positives number and traveled distances by a person and by a robot. Further this criterion is used to compare performance of the proposed method with the Multiple Instance Learning (MIL) tracker in simulated and in real world environments.
    Ключевые слова Mobile robot, Human tracking, Human following, algorithm, Laser range finder, Monocular camera, Multisensor tracking, Accuracy score, ROS, Gazebo
    Название журнала Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85092911271&doi=10.1007%2f978-3-030-60337-3_3&partnerID=40&md5=7b18c2a3749db8a24c51b21dbb0521f5
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    F_ICR_2020_Chebotareva_PersonFollowing.pdf 1,22 pdf посмотреть / скачать

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