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The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder

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5 Author(s)
Woojin Chung ; Sch. of Mech. Eng., Korea Univ., Seoul, South Korea ; Hoyeon Kim ; Yoonkyu Yoo ; Chang-bae Moon
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The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.

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Industrial Electronics, IEEE Transactions on  (Volume:59 ,  Issue: 8 )