Stationary Human Detection Method Using 2D LiDAR

Since the COVID-19 pandemic, Japanese industry has been facing a labor shortage in various fields. In particular, the security sector is experiencing a serious labor shortage problem. University security operations are also being affected by the lack of security guards. On the other hand, robot technology is developing and it is becoming possible to perform not only simple tasks but also tasks that involve interaction with humans. In particular, robots are expected to be introduced in patrol security, which requires a large number of personnel, as much of the work involves confirming that there are no problems. A security guard should go there only if it cannot be confirmed that there is no problem. Therefore, the accuracy of confirmation and the cost of introducing and operation become issues. The technologies for recognizing human using cameras mounted or 3D-LiDAR (Light Detection And Raging) on robots has been established. However, how to use it in a dark place and recognition technology by the low-cost 2D-LiDAR have not been established. In this paper, we propose a human recognition method using 2D-LiDAR that extends the technologies of previous research, and present the results of our evaluation.