Abstract
Mobile robots have a large application potential in industrial shop floors, improving the human action in this kind of environments. The productivity can be greatly increased while reducing cost, particularly for surface operations such as material transport, survey and sampling. In this paper a system able to follow a worker in an industrial environment based on information provided by a laser scan and a stereo camera is presented. In order to accomplish this goal, a probabilistic approach for human leg detection based on data provided by a laser scan is used, enhanced with an histogram based depth detector. The proposed approach also integrates tracking techniques as Kalman Filters to endow the system with an error recovering tool to be used in a real environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Kalman, R.E.: A new approach to linear filtering and prediction problems. Transactions of the ASME–Journal of Basic Engineering 82(Series D), 35–45 (1960)
Oren, M., Papageorgiou, C., Sinha, P., Osuna, E., Poggio, T.: Pedestrian detection using wavelet templates. In: CVPR ’97, pp. 193–199 (1997)
Gavrila, D.M., Davis, L.S.: 3-D model-based tracking of humans in action: a multi-view approach. In: CVPR ’96, p. 73 (1996)
Dai, C., Zheng, Y., Li, X.: Pedestrian detection and tracking in infrared imagery using shape and appearance. Comput. Vis. Image Underst. 106(2-3), 288–299 (2007)
Bellotto, N., Hu, H.: Multisensor integration for human-robot interaction. The IEEE Journal of Intelligent Cybernetic Systems 1 (July 2005)
Xavier, J., Pacheco, M., Castro, D., Ruano, A., Nunes, U.: Fast line, arc/circle and leg detection from laser scan data in a Player driver. In: ICRA 2005, pp. 3930–3935 (2005)
Kobilarov, M., Sukhatme, G., Hyams, J., Batavia, P.: People tracking and following with mobile robot using an omnidirectional camera and a laser. In: ICRA 2006, pp. 557–562 (2006)
Dai, W., Cuhadar, A., Liu, P.: Robot tracking using vision and laser sensors. In: CASE 2008, pp. 169–174 (2008)
Kwolek, B.: Person following and mobile camera localization using particle filters. In: RoMoCo 2004, pp. 265–270 (2004)
Martínez-Otzeta, J.M., Ibarguren, A., Ansuategi, A., Susperregi, L.: Laser based people following behaviour in an emergency environment. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds.) ICIRA 2009. LNCS (LNAI), vol. 5928, pp. 33–42. Springer, Heidelberg (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Martínez-Otzeta, J.M., Ibarguren, A., Ansuategi, A., Tubío, C., Aristondo, J. (2010). People Following Behaviour in an Industrial Enviroment Using Laser and Stereo Camera. In: García-Pedrajas, N., Herrera, F., Fyfe, C., Benítez, J.M., Ali, M. (eds) Trends in Applied Intelligent Systems. IEA/AIE 2010. Lecture Notes in Computer Science(), vol 6098. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13033-5_52
Download citation
DOI: https://doi.org/10.1007/978-3-642-13033-5_52
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13032-8
Online ISBN: 978-3-642-13033-5
eBook Packages: Computer ScienceComputer Science (R0)