Detection and Tracking of Moving Objects for Indoor Mobile Robots with a Low-Cost Laser Scanner
文献类型：会议论文
| 作者 | Liu, Tianyu; Gu, Ye; Sheng, Weihua; Li, Yongqiang; Ou, Yongsheng |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | Seattle |
| 英文摘要 | In this work, we present a detection and tracking of moving object (DATMO) system with a low-cost rotary laser range finder. This system is designed for indoor mobile robots. An occlusion and noise detection module is developed for processing laser range finder's data. A cascade classifier is proposed for object detection. Then we transform the local target position into the global map using a prior occupancy grid map. An Extended Kalman Filter is applied for object tracking and error compensation. Our system runs at 8Hz on a Raspberry Pi 3 using a LS01C 2D laser range finder. Indoor human tracking experiments are designed to verify the efficiencies of the algorithms. The presented method was proven to be capable of providing a smooth and accurate target position in a DATMO task. |
| URL标识 | 查看原文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13849]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Liu, Tianyu,Gu, Ye,Sheng, Weihua,et al. Detection and Tracking of Moving Objects for Indoor Mobile Robots with a Low-Cost Laser Scanner[C]. 见:. Seattle. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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