@misc{10481/86428,
year = {2014},
url = {https://hdl.handle.net/10481/86428},
abstract = {People detection and tracking is an essential skill to obtain
social and interactive robots. Computer vision has been widely used to
solve this task but images are affected by noise and illumination changes.
Laser range finder is robust against illumination changes so that it can
bring useful information to carry out the detection and tracking. In fact,
multisensor approaches are showing the best results. In this work, we
present a new method to detect and track people using a laser range
finder. Patterns of leg are learnt from 2d laser data using supervised
learning. Unlike others leg detection approaches, people can be still or
moving at the surroundings of the robot. The method of leg detection
is used as observation model in a particle filter to track the motion of a
person. Experiments in a real indoor environment have been carried out
to validate the proposal.},
organization = {Andalusian Regional Government P09-TIC-04813},
organization = {Spanish Government TIN2012-38969},
publisher = {Springer},
keywords = {Leg detection and tracking},
keywords = {Laser range finder},
keywords = {Supervised learning},
keywords = {Particle filter},
keywords = {Mobile robots},
title = {Leg detection and tracking for a mobile robot and based on a laser device, supervised learning and particle filtering},
doi = {10.1007/978-3-319-03413-3_31},
author = {Aguirre Molina, Eugenio and García Silvente, Miguel and Plata, Javier},
}