Tracking and Classification of Dynamic Obstacles with Laser Range Finder in Indoor Environments

被引：0
|
作者：
Liu, Chunshan [1 ]
Dong, Erbao [1 ]
Duan, Zhuo [1 ]
Huang, He [1 ]
Xu, Min [1 ]
Yang, Jie [1 ]
机构：
[1] Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230026, Anhui, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年
关键词：
MOBILE ROBOT; NAVIGATION; AVOIDANCE;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
It is a key issue for a service robot to deal with different kinds of dynamic obstacles in indoor environments. An approach to track and classify dynamic obstacles in indoor environments is proposed in this paper. A laser range finder (LRF) is used to detect and acquire information of dynamic obstacles. Accordingly dynamic obstacles are grouped into three categories: active obstacles, inactive obstacles and inactive obstacles combined with active obstacles. Three typical obstacles belonging to three categories are analysed based on frequency analysis respectively. According to relative power spectrums, two attributes are put forward to classify three classes of dynamic obstacles. The classification approach could be beneficial to navigation when coping with dynamic obstacles in the indoor environment.
引用
收藏
页码：2365 / 2370
页数：6
相关论文
共 50 条
  • [1] Moving Obstacles Detection and Tracking with Laser Range Finder
    Rebai, K.
    Benabderrahmane, A.
    Azouaoui, O.
    Ouadah, N.
    ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2, 2009, : 458 - 463
  • [2] Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles
    Jung, Jin-Woo
    Park, Jung-Soo
    Kang, Tae-Won
    Kang, Jin-Gu
    Kang, Hyun-Wook
    APPLIED SCIENCES-BASEL, 2020, 10 (08):
  • [3] A Customized FastSLAM Algorithm Using Scanning Laser Range Finder in Structured Indoor Environments
    Hon, Bo Xuan
    Tian, Hongyu
    Wang, Fei
    Chen, Ben M.
    Lee, Tong H.
    2013 10TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2013, : 640 - 645
  • [4] Dynamic Track Management in MHT for Pedestrian Tracking Using Laser Range Finder
    Abd Rahman, Abdul Hadi
    Zamzuri, Hairi
    Mazlan, Saiful Amri
    Rahman, Mohd Azizi Abdul
    Yamamoto, Yoshio
    Samsuri, Saiful Bahri
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2015, 2015
  • [5] Moving obstacles detection based on laser range finder measurements
    Dekan, Martin
    Frantisek, Duchon
    Andrej, Babinec
    Jozef, Rodina
    David, Rau
    Josip, Music
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (01):
  • [6] Terrain Classification Using Laser Range Finder
    Walas, Krzysztof
    Nowicki, Michal
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 5003 - 5009
  • [7] Surface Type Classification With a Laser Range Finder
    Kirchner, Nathan
    Liu, Dikai
    Dissanayake, Gamini
    IEEE SENSORS JOURNAL, 2009, 9 (09) : 1160 - 1168
  • [8] Development of a Laser Range Finder Based Local-Pose Component for JAUS-Compliant Mobile Robots in Dynamic Indoor Environments
    Kariya, Hironobu
    Amano, Ryosuke
    Moriyama, Naruhito
    Kobayashi, Kazuyuki
    Watanabe, Kajiro
    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2013, : 1073 - 1079
  • [9] A Probabilistic Approach for Semantic Classification Using Laser Range Data in Indoor Environments
    Kaleci, Burak
    Senler, Cagri Mete
    Dutagaci, Helin
    Parlaktuna, Osman
    PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2015, : 375 - 381
  • [10] Unsupervised Classification of Dynamic Obstacles in Urban Environments
    Katz, Roman
    Nieto, Juan
    Nebot, Eduardo
    JOURNAL OF FIELD ROBOTICS, 2010, 27 (04) : 450 - 472
12345