Person tracking and following with 2D laser scanners
- 1 May 2015
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Having accurate knowledge of the positions of people around a robot provides rich, objective and quantitative data that can be highly useful for a wide range of tasks, including autonomous person following. The primary objective of this research is to promote the development of robust, repeatable and transferable software for robots that can automatically detect, track and follow people in their environment. The work is strongly motivated by the need for such functionality onboard an intelligent power wheelchair robot designed to assist people with mobility impairments. In this paper we propose a new algorithm for robust detection, tracking and following from laser data. We show that the approach is effective in various environments, both indoor and outdoor, and on different robot platforms (the intelligent power wheelchair and a Clearpath Husky). The method has been implemented in the Robot Operating System (ROS) framework and will be publicly released as a ROS package. We also describe and will release several datasets designed to promote the standardized evaluation of similar algorithms.Keywords
This publication has 20 references indexed in Scilit:
- Mobile robot system architecture for people tracking and following applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2014
- Kinect-based people detection and tracking from small-footprint ground robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2014
- Fast RGB-D people tracking for service robotsAutonomous Robots, 2014
- Challenges of Ground Truth Evaluation of Multi-target TrackingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Following and interpreting narrated guided toursPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2011
- People tracking and following with mobile robot using an omnidirectional camera and a laserPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- A study of a target tracking algorithm using global nearest neighbor approachPublished by Association for Computing Machinery (ACM) ,2003
- The dynamic window approach to collision avoidanceIEEE Robotics & Automation Magazine, 1997
- A New Approach to Linear Filtering and Prediction ProblemsJournal of Basic Engineering, 1960
- The Hungarian method for the assignment problemNaval Research Logistics Quarterly, 1955