The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder

The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detecti...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 59; no. 8; pp. 3156 - 3166
Main Authors Chung, Woojin, Kim, Hoyeon, Yoo, Yoonkyu, Moon, Chang-Bae, Park, Jooyoung
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2012
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Human
Human following
human-robot interaction
Humans
Laser range finders
leg detection
Legged locomotion
Legs
Mathematical analysis
Mathematical models
mobile robot navigation
Navigation
Robots
Shape
Target tracking
Tracking
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Summary:The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.
Bibliography:ObjectType-Article-2
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2011.2170389