단일레이저거리센서를 탑재한 실내용이동서비스로봇의 사람추종Human following of Indoor mobile service robots with a Laser Range Finder
- Other Titles
- Human following of Indoor mobile service robots with a Laser Range Finder
- Authors
- Park, Jooyoung; CHUNG, Woo Jin
- Issue Date
- 3월-2011
- Publisher
- 한국로봇학회
- Keywords
- Human-Robot Interaction; Leg detection; Human following; Mobile robot navigation
- Citation
- 로봇학회 논문지, v.6, no.1, pp.86 - 96
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 6
- Number
- 1
- Start Page
- 86
- End Page
- 96
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/84634
- ISSN
- 19756291
- Abstract
- The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract
four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Science and Technology > Department of Electro-Mechanical Systems Engineering > 1. Journal Articles
- College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.