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Specific Person Detection and Tracking by a Mobile Robot Using 3D LIDAR and ESPAR Antenna

  • Kazuki Misu
  • Jun Miura
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

Tracking a specific person is one of the important tasks of mobile service robots. This paper describes a novel and reliable strategy for detecting and tracking a specific person by a mobile robot in outdoor environments. The robot uses 3D LIDARs for person detection and identification, and a directivity-variable antenna (called ESPAR antenna) for locating a specific person even under occluded and/or out-of-view situations. A sensor fusion approach realizes a reliable tracking of a specific person in actual outdoor environments. Experimental results show the effectiveness of the proposed strategy.

Keywords

Person detection and tracking Mobile robot 3D LIDAR ESPAR antenna 

Notes

Acknowledgments

The authors would like to thank Prof. Takashi Ohira of TUT for giving advice on the ESPAR antenna. They would also like to thank the members of Active Intelligent Systems Laboratory at TUT for their supports in implementing the system. This work is supported in part by Grant-in-Aid for Scientific Research (No. 25280093) from JSPS.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Computer Science and EngineeringToyohashi University of TechnologyToyohashiJapan

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