期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2014
卷号：7
期号：3
页码：311-324
DOI：10.14257/ijhit.2014.7.3.29
出版社：SERSC
摘要：Localizing humans inside a home or office environment is vital for various service robot applications. This paper presents a novel method to estimate human locations using distributed laser range finders. First, the Kalman filter is employed on the laser data to produce a statistically optimal scan estimate. Next, Scan points in the foreground are then grouped using mean shift clustering algorithm. An area-divided clustering mode is introduced to ensure enough clusters to represent the contour of human. Finally, the centers of humans are estimated from the obtained clusters using incomplete ellipse fitting. Experiments are conducted to prove the robustness and efficiency of the proposed method.
关键词：Human localization; Kalman filter; Mean Shift clustering; distributed laser ; range finders
