People tracking with multiple laser range sensors

被引：0
|
作者：
Nishimura, Hiroshi [1 ]
Hashimoto, Masafumi [2 ]
Matsui, Yosuke [1 ]
Takahashi, Kazuhiko [2 ]
机构：
[1] Doshisha Univ, Grad Sch, 1-3 Miyakodani, Kyoto 6100394, Japan
[2] Doshisha Univ, Fac Engn, Kyoto 6100394, Japan
来源：
ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2 | 2008年 / 6794卷
关键词：
people tracking; multi laser range sensors; Kalman filter; data association;
D O I：
10.1117/12.784374
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
This paper presents a decentralized method for people tracking with multiple 2D laser range sensors (LRS's) allocated in environments. Moving people which are detected from laser images with the LRS's are tracked based on Kalman filter, the assignment algorithm and Covariance Intersection method. A rule based on track management system is embedded into the tracking system in order to improve the tracking performance. The experimental results of people tracking validate this proposed method.
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收藏
页数：6
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