Laser-based Tracking of People and Vehicles by Multiple Mobile Robots

Masafumi Hashimoto, Ryunosuke Izumi, Yuto Tamura, Kazuhiko Takahashi

2014

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.

Paper Citation

in Harvard Style

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

in Bibtex Style

@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},
}

in EndNote Style

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