The detection and following of human legs through inductive approaches for a mobile robot with a single laser range finder

Woojin Chung, Hoyeon Kim, Yoonkyu Yoo, Chang Bae Moon, Jooyoung Park

Research output: Contribution to journalArticle

75 Citations (Scopus)

Abstract

The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.

Original languageEnglish
Pages (from-to)3156-3166
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Volume59
Issue number8
DOIs
Publication statusPublished - 2012 Aug

Keywords

  • Human following
  • human-robot interaction
  • leg detection
  • mobile robot navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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