LIDAR-based body orientation estimation by integrating shape and motion information

Body orientation gives useful information on assessing a human's state and/or predicting his/her future actions. This paper presents a method of reliably estimating human body orientation using a LIDAR on a mobile robot by integrating shape and motion information. A shape database is constructe...

Full description

Saved in:
Bibliographic Details
Published in2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1948 - 1953
Main Authors Shimizu, Masanobu, Koide, Kenji, Ardiyanto, Igi, Miura, Jun, Oishi, Shuji
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2016
Subjects
Data models
Estimation
Laser radar
Robots
Shape
Tracking
Online AccessGet full text

Cover

More Information
Summary:Body orientation gives useful information on assessing a human's state and/or predicting his/her future actions. This paper presents a method of reliably estimating human body orientation using a LIDAR on a mobile robot by integrating shape and motion information. A shape database is constructed by collecting body section shape data from various viewpoints. The result of matching between an input shape with the database is combined with a UKF-based tracker which utilizes a relationship between the body orientation and the motion orientation. The experimental results shows the effectiveness of the proposed method.
DOI:10.1109/ROBIO.2016.7866614