Autonomous person following with 3D LIDAR in outdoor environment

• Autorzy: Bohlmann K. , Beck-Greinwald A. , Buck S. , Marks H. , Zell A.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

3D perception; person detection; person following,; car-like steering

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 2
• Strony: 24--29
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Bohlmann K.

• Computer Science Department, University of Tübingen, Tübingen, Germany

autor

Beck-Greinwald A.

• Computer Science Department, University of Tübingen, Tübingen, Germany

autor

Buck S.

• Computer Science Department, University of Tübingen, Tübingen, Germany

autor

Marks H.

• Computer Science Department, University of Tübingen, Tübingen, Germany

autor

Zell A.

• Computer Science Department, University of Tübingen, Tübingen, Germany

Bibliografia

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• [3] J. Brookshire, ,,Person following using histograms of oriented gradients", International Journal of Social Robotics, 2(2):137-146, 2010.
• [4] R. Gockley, ,,Natural person-following behavior for social robots", In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI'07), pp. 17-24, ACM Press, 2007.
• [5] M. Kobilarov, G. Sukhatme, J. Hyams, P. Batavia, ,,People tracking and following with mobile robot using an omnidirectional camera and a laser", In: Proceedings 2006 IEEE International Conference on Robotics and Automation(ICRA 2006), pp. 557-562, May 2006.
• [6] A. Nüchter, J. Hertzberg, ,,Towards semantic maps for mobile robots", Robot. Auton. Syst., 56(11):915-926, November 2008.
• [7] R. Simmons, R. Gockley, J. Forlizzi, ,,Natural person following behavior for social robots", In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI'07), 2007.
• [8] S. Sato, M. Hashimoto, M. Takita, K. Takagi, T. Ogawa, ,,Multilayer lidar-based pedestrian tracking in urban environments", In: 2010 IEEE Intelligent Vehicles Symposium (IV), pp. 849-854, June 2010.
• [9] L. Spinello, K. O. Arras, R. Triebel, R. Siegwart, ,,A layered approach to people detection in 3d range data", In: Proc. 24th AAAI Conference on Artificial Intelligence (AAAI'10), Atlanta, USA, 2010.
• [10] A. Teichman, J. Levinson, S. Thrun, ,,Towards 3d object recognition via classification of arbitrary object tracks", In: International Conference on Robotics and Automation, 2011.
• [11] S. Savarese, W. Choi, C. Pantofaru, ,,Detecting and tracking people using an rgb-d camera via multipledetector fusion", In: Workshop on Challenges and Opportunities in Robot Perception (in conjunction with ICCV-11), 2011.