KFU. Card publication. 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

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2020

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Chebotareva Elvira Valerevna, author

Bibliographic description in the original language

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.

Annotation

Smart Innovation, Systems and Technologies

Keywords

Human-Following Algorithm, Mobile Robot

The name of the journal

Smart Innovation, Systems and Technologies

URL

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

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257431&p_lang=2

Resource files

File name	Size (MB)	Format
2020_Laser_Rangefinder_and_Monocular_Camera_Data_Fusion_for__uman_Following_Algorithm.pdf	0,46	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Chebotareva Elvira Valerevna	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/eng/?p_id=257431&p_lang=2	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	Conference proceedings in international journals and collections	ru_RU