2A1-H10 Person Following and Autonomous Returning by Mobile Robot Equipped with Monocular Camera and Laser Range Finder(Robots for Home/Office Application)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A1-H10_1-_2A1-H10_4 ◽  
Author(s):  
Masashi AWAI ◽  
Takahito SHIMIZU ◽  
Atsushi YAMASHITA ◽  
Toru KANEKO
Keyword(s):  
Mobile Robot ◽  
Laser Range Finder ◽  
Range Finder ◽  
Home Office ◽  
Laser Range ◽  
Monocular Camera ◽  
Person Following

Development of Mobile Robot System Equipped with Camera and Laser Range Finder Realizing HOG-Based Person Following and Autonomous Returning

2014 ◽  
Vol 26 (1) ◽  
pp. 68-77 ◽  
Author(s):  
Masashi Awai ◽  
◽  
Atsushi Yamashita ◽  
Takahito Shimizu ◽  
Toru Kaneko ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Potential Method ◽  
Range Data ◽  
Laser Range Finder ◽  
Range Finder ◽  
Color Information ◽  
Robot System ◽  
Laser Range ◽  
Person Following ◽  
Starting Point

In this paper, we propose a mobile robot system which has functions of person following and autonomous returning. The robot realizes these functions by analyzing information obtained with camera and laser range finder. Person following is performed by using HOG features, color information, and pattern of range data. Along with person following, a map of the ambient environment is generated from range data. Autonomous returning to the starting point is performed by applying potential method to the generated map. We verified the proposed method by experiment using a wheel mobile robot in an indoor environment.

scholarly journals Human Tracking with a Mobile Robot using a Laser Range-Finder

2006 ◽  
Vol 24 (5) ◽  
pp. 605-613 ◽  
Author(s):  
Shinichi Okusako ◽  
Shigeyuki Sakane
Keyword(s):  
Mobile Robot ◽  
Human Tracking ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

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