| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2020 |
|
Магид Евгений Аркадьевич, автор
Сафин Рамиль Набиуллович, автор
Чеботарева Эльвира Валерьевна, автор
|
| Другие авторы |
Kuo-Hsien Hsia, Alexander Carballo |
|
Сафин Рамиль Набиуллович, автор
|
| Библиографическое описание на языке оригинала |
Cheborateva, E., Safin, R., Hsia, K.-H., Carballo, A., Magid, E. (2020). 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), 12336, 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 |
| 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)
|
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=250504 |
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
ru_RU |
| dc.contributor.author |
Чеботарева Эльвира Валерьевна |
ru_RU |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
ru_RU |
| dc.date.accessioned |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2020 |
ru_RU |
| dc.identifier.citation |
Cheborateva, E., Safin, R., Hsia, K.-H., Carballo, A., Magid, E. (2020). 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), 12336, p. 21-33. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=250504 |
ru_RU |
| dc.description.abstract |
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
ru_RU |
| dc.description.abstract |
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 |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Mobile robot |
ru_RU |
| dc.subject |
Human tracking |
ru_RU |
| dc.subject |
Human following algorithm |
ru_RU |
| dc.subject |
Laser range finder |
ru_RU |
| dc.subject |
Monocular camera |
ru_RU |
| dc.subject |
Multisensor tracking |
ru_RU |
| dc.subject |
Accuracy score |
ru_RU |
| dc.subject |
ROS |
ru_RU |
| dc.subject |
Gazebo |
ru_RU |
| dc.title |
Person-Following Algorithm Based on Laser Range Finder and Monocular Camera Data Fusion for a Wheeled Autonomous Mobile Robot |
ru_RU |
| dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
|
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