КФУ. Карточка публикации. Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment

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LASER RANGEFINDER AND MONOCULAR CAMERA DATA FUSION FOR HUMAN-FOLLOWING ALGORITHM BY PMB-2 MOBILE ROBOT IN SIMULATED GAZEBO ENVIRONMENT

Форма представления

Тезисы и материалы конференций в зарубежных журналах и сборниках

Год публикации

2020

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Чеботарева Эльвира Валерьевна, автор

Библиографическое описание на языке оригинала

Chebotareva E. Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment / Hsia K.-H., Yakovlev K., Magid E. // Smart Innovation, Systems and Technologies. - 2020. - №187. - p. 357-369.

Аннотация

Smart Innovation, Systems and Technologies

Ключевые слова

Human-Following Algorithm, Mobile Robot

Название журнала

Smart Innovation, Systems and Technologies

URL

https://link.springer.com/chapter/10.1007/978-981-15-5580-0_29

Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку

https://repository.kpfu.ru/?p_id=257431

Файлы ресурса

Название файла	Размер (Мб)	Формат
2020_Laser_Rangefinder_and_Monocular_Camera_Data_Fusion_for__uman_Following_Algorithm.pdf	0,46	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Чеботарева Эльвира Валерьевна	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	Chebotareva E. Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment / Hsia K.-H., Yakovlev K., Magid E. // Smart Innovation, Systems and Technologies. - 2020. - №187. - p. 357-369.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=257431	ru_RU
dc.description.abstract	Smart Innovation, Systems and Technologies	ru_RU
dc.description.abstract	The paper presents a human-following algorithm for an autonomous mobile robot, which is equipped with a 2D laser rangefinder (LRF) and a monocular camera. As a rule, quality of a human tracking by a LRF is reduced in cluttered environments. We used a monocular camera to increase a human-tracking reliability. In contradiction with popular human-tracking algorithms that apply only a 2D LRF, our algorithm does not impose any restrictions on a type of human's clothes, and our approach does not require a human head and an upper body to be located within a monocular camera field of view. Several human trackers and variations of our algorithm were compared in the Gazebo virtual experiments within a free corridor and an office room environment. The virtual experiments demonstrated that our method successfully improved a human-tracking quality being employed with the human-following virtual PMB-2 robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Human-Following Algorithm	ru_RU
dc.subject	Mobile Robot	ru_RU
dc.title	Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment	ru_RU
dc.type	Тезисы и материалы конференций в зарубежных журналах и сборниках	ru_RU