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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 |