Detecting Human Attendance using 1-Dimensional Foot Signal from Laser Range Sensor

Detecting dynamic and static objects is one of the important abilities for a mobile robot, including a healthcare mobile robot. As long as the robot carries out its duties, it will often encounter objects, both dynamic and static. Therefore, recognizing the dynamic and static objects is crucial. In this paper, the existence of human as an example of dynamic objects is obtained using a Laser Range Finder (LRF), since it can work faster than ordinary cameras. To recognize human data obtained from LRF, a sliding window process is applied to get the signal data of human feet which will then be classified using the Support Vector Machine (SVM). Meanwhile, to overcome the difference in the size of the human foot signal caused by the distance changes, a pyramid scanning process is also applied. Based on the experimental results obtained, human can be detected from a range of distances 1 up to 4.25 meter within 73 msec.