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