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Authors: Masafumi Hashimoto 1 ; Ryunosuke Izumi 2 ; Yuto Tamura 2 and Kazuhiko Takahashi 1

Affiliations: 1 Doshisha University, Japan ; 2 Graduate School of Doshisha University, Japan

ISBN: 978-989-758-040-6

Keyword(s): Moving-object Tracking, Laser Scanner, Mobile Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents laser-based tracking of moving objects conducted by a group of mobile robots located near one another. Each robot finds moving objects such as people, cars, and bicycles in its own laser-scanned images using a binarized occupancy-grid-based method. It then sends laser measurements related to the detected moving objects to a central server. The central server estimates the pose and size of the moving objects via the Kalman filter based on received measurements; it then feeds that information back to the robots. Rule-based and global-nearest-neighbor-based data associations are applied for matching of tracked objects and laser measurements in multitarget environments. In this cooperative tracking method, the central server collects the laser measurements from all robots; hence, the robots can always track invisible or partially invisible objects. The experimental results for two robots in an outdoor environment validate our tracking method.

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Paper citation in several formats:
Hashimoto, M.; Izumi, R.; Tamura, Y. and Takahashi, K. (2014). Laser-based Tracking of People and Vehicles by Multiple Mobile Robots.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 522-527. DOI: 10.5220/0005084205220527

@conference{icinco14,
author={Masafumi Hashimoto. and Ryunosuke Izumi. and Yuto Tamura. and Kazuhiko Takahashi.},
title={Laser-based Tracking of People and Vehicles by Multiple Mobile Robots},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={522-527},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005084205220527},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Laser-based Tracking of People and Vehicles by Multiple Mobile Robots
SN - 978-989-758-040-6
AU - Hashimoto, M.
AU - Izumi, R.
AU - Tamura, Y.
AU - Takahashi, K.
PY - 2014
SP - 522
EP - 527
DO - 10.5220/0005084205220527

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