- Tytuł:
- Autonomous person following with 3D LIDAR in outdoor environment
- Autorzy:
-
Bohlmann, K.
Beck-Greinwald, A.
Buck, S.
Marks, H.
Zell, A. - Tematy:
-
3D perception
person detection
person following,
car-like steering - Pokaż więcej
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Powiązania:
- https://bibliotekanauki.pl/articles/950916.pdf Link otwiera się w nowym oknie
- Opis:
- The capability of a robot to follow autonomously a person highly enhances its usability when humans and robots collaborate. In this paper we present a system for autonomous following of a walking person in outdoor environments while avoiding static and dynamic obstacles. The principal sensor is a 3D LIDAR with a resolution of 59x29 points. We present a combination of 3D features, motion detection and tracking with a sampling Bayesian filter which results in reliable person detection for a lowresolu tion 3D-LIDAR. The method is implemented on an outdoor robot with car-like steering, which incorporates the target's path into its own path planning around local obstacles. Experiments in outdoor areas validate the approach.
- Dostawca treści:
- Biblioteka Nauki
Artykuł