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Specific Person Detection and Tracking by a Mobile Robot Using 3D LIDAR and ESPAR Antenna

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

Tracking a specific person is one of the important tasks of mobile service robots. This paper describes a novel and reliable strategy for detecting and tracking a specific person by a mobile robot in outdoor environments. The robot uses 3D LIDARs for person detection and identification, and a directivity-variable antenna (called ESPAR antenna) for locating a specific person even under occluded and/or out-of-view situations. A sensor fusion approach realizes a reliable tracking of a specific person in actual outdoor environments. Experimental results show the effectiveness of the proposed strategy.

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Acknowledgments

The authors would like to thank Prof. Takashi Ohira of TUT for giving advice on the ESPAR antenna. They would also like to thank the members of Active Intelligent Systems Laboratory at TUT for their supports in implementing the system. This work is supported in part by Grant-in-Aid for Scientific Research (No. 25280093) from JSPS.

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Authors and Affiliations

  1. Department of Computer Science and Engineering, Toyohashi University of Technology, Toyohashi, Japan

    Kazuki Misu & Jun Miura

Authors
  1. Kazuki Misu
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  2. Jun Miura
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Corresponding author

Correspondence to Jun Miura .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Misu, K., Miura, J. (2016). Specific Person Detection and Tracking by a Mobile Robot Using 3D LIDAR and ESPAR Antenna. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_51

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_51

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

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