Abstract
Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.
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Martínez-Otzeta, J.M., Ibarguren, A., Ansuategi, A., Susperregi, L. (2009). Laser Based People Following Behaviour in an Emergency Environment. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_4
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DOI: https://doi.org/10.1007/978-3-642-10817-4_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
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