Application of Images and Laser Range to Detection of  Workers Around Heavy Construction Equipment

This paper describes the application of sensors to prevent collision accidents with heavy equipment such as hydraulic excavators and cranes. From the results of an existing system evaluation, the author developed a system that measures distance from heavy equipment to personnel using a camera, 2-D laser range finder, and 3-D orientation sensor. A prototype wasmade and it has been confirmed that the detection of personnel is possible based on camera images and laser range data.

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Multi-Feature Extraction for Drivable Road Region Detection with a Two-Dimensional Laser Range Finder

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.304.381 ◽

2011 ◽

Vol 304 ◽

pp. 381-386

Author(s):

Yu Wen Hu ◽

Xin Li ◽

Jian Wei Gong

Keyword(s):

Feature Extraction ◽

Average Height ◽

Range Data ◽

Laser Range Finder ◽

Range Finder ◽

Transform Method ◽

Laser Range ◽

Feature Extraction Method ◽

Region Detection ◽

Whole Process

A multi-feature extraction method using a single 2D Laser Range Finder is proposed to provide the information of drivable road region for the Unmanned Ground Vehicle in structured environment. The whole process consists of two main steps: first, the curbs are extracted from the range data using the wavelet transform method, and evaluated by a road scanning model; then, the drivable region is detected based on the average height and flatness. A mathematical model for curb and road detection based on grid map is built to guide the vehicle. The algorithm distinguishes itself from the most existing methods which detect curbs only, it takes advantage of the flatness of surface between extracted curbs is employed as another feature for drivable road region detection. Furthermore, laser intensity data from the same laser range finder is introduced to supply a new restriction for surface evaluation. Experimental results verify the feasibility and stability of the method.

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

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2014.p0068 ◽

2014 ◽

Vol 26 (1) ◽

pp. 68-77 ◽

Cited By ~ 3

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.

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