System for Tracking Human Position by Multiple Laser Range Finders Deployed in Existing Home Environment

Abstract

This paper describes construction of a system for measurement of human position from laser range finders (LRFs) deployed in real home environment. The system gathers and stores scan data from LRF modules equipped with room corners at different hip heights by network. We also develop a tracking method based on a particle filter framework. In the filter, after scan data is subtracted with background data and noise data is eliminated with grid map that represents room layout, the position is estimated based on detected scan points with the filtering framework. This method realizes robust tracking of the occupant in real cluttered environment. We demonstrated the system can measure human position accurately in real home environment.