期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：2
页码：24
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The capability of a robot to follow autonomously a personhighly enhances its usability when humans and robotscollaborate. In this paper we present a system for autonomousfollowing of a walking person in outdoor environmentswhile avoiding staƟc and dynamic obstacles.The principal sensor is a 3D LIDAR with a resoluƟon of59x29 points. We present a combinaƟon of 3D features,moƟon detecƟon and tracking with a sampling Bayesianfilter which results in reliable person detecƟon for a lowresoluƟon3D-LIDAR. The method is implemented on anoutdoor robot with car-like steering, which incorporatesthe target's path into its own path planning around localobstacles. Experiments in outdoor areas validate theapproach.
关键词：3D percepƟon; person detecƟon; person following;car-like steering
