dc.contributor.author |
Chebotareva E. |
|
dc.contributor.author |
Hsia K.H. |
|
dc.contributor.author |
Yakovlev K. |
|
dc.contributor.author |
Magid E. |
|
dc.date.accessioned |
2022-02-09T20:47:09Z |
|
dc.date.available |
2022-02-09T20:47:09Z |
|
dc.date.issued |
2021 |
|
dc.identifier.issn |
2190-3018 |
|
dc.identifier.uri |
https://dspace.kpfu.ru/xmlui/handle/net/170271 |
|
dc.description.abstract |
The paper presents a human-following algorithm for an autonomous mobile robot, which is equipped with a 2D laser rangefinder (LRF) and a monocular camera. As a rule, quality of a human tracking by a LRF is reduced in cluttered environments. We used a monocular camera to increase a human-tracking reliability. In contradiction with popular human-tracking algorithms that apply only a 2D LRF, our algorithm does not impose any restrictions on a type of human’s clothes, and our approach does not require a human head and an upper body to be located within a monocular camera field of view. Several human trackers and variations of our algorithm were compared in the Gazebo virtual experiments within a free corridor and an office room environment. The virtual experiments demonstrated that our method successfully improved a human-tracking quality being employed with the human-following virtual PMB-2 robot. |
|
dc.relation.ispartofseries |
Smart Innovation, Systems and Technologies |
|
dc.subject |
Gazebo |
|
dc.subject |
Human-following algorithm |
|
dc.subject |
Human-following robot |
|
dc.subject |
Laser rangefinder |
|
dc.subject |
LRF |
|
dc.subject |
Monocular camera |
|
dc.subject |
Multisensor tracking |
|
dc.subject |
ROS |
|
dc.title |
Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment |
|
dc.type |
Conference Proceeding |
|
dc.relation.ispartofseries-volume |
187 |
|
dc.collection |
Публикации сотрудников КФУ |
|
dc.relation.startpage |
357 |
|
dc.source.id |
SCOPUS21903018-2021-187-SID85091138479 |
|