Smart Innovation, Systems and Technologies, volume 187, pages 357-369

Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment

Chebotareva Elvira ¹

Hsia Kuo-Hsien ²

Yakovlev Konstantin ³

Magid Evgeni ¹

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Laboratory of Intelligent Robotic Systems (LIRS), Intelligent Robotics Department, Higher Institute for Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russian Federation |

Department of Electrical Engineering, National Yunlin University of Science and Technology, Douliu, Taiwan |

Moscow Institute of Physics and Technology, Moscow, Russian Federation |

Publication type: Book Chapter

Publication date: 2020-09-02

Springer Nature

Journal: Smart Innovation, Systems and Technologies

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ISSN: 21903018, 21903026

DOI: 10.1007/978-981-15-5580-0_29

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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.

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Lecture Notes in Computer Science	Lecture Notes in Computer Science, 2, 25% Lecture Notes in Computer Science 2 publications, 25%
Sensors	Sensors, 1, 12.5% Sensors 1 publication, 12.5%
Artificial Life and Robotics	Artificial Life and Robotics, 1, 12.5% Artificial Life and Robotics 1 publication, 12.5%
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Springer Nature	Springer Nature, 3, 37.5% Springer Nature 3 publications, 37.5%
Multidisciplinary Digital Publishing Institute (MDPI)	Multidisciplinary Digital Publishing Institute (MDPI), 1, 12.5% Multidisciplinary Digital Publishing Institute (MDPI) 1 publication, 12.5%
IEEE	IEEE, 1, 12.5% IEEE 1 publication, 12.5%
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Chebotareva E. et al. Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment // Smart Innovation, Systems and Technologies. 2020. Vol. 187. pp. 357-369.

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Chebotareva E., Hsia K., Yakovlev K., Magid E. Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment // Smart Innovation, Systems and Technologies. 2020. Vol. 187. pp. 357-369.

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TY - GENERIC

DO - 10.1007/978-981-15-5580-0_29

UR - https://doi.org/10.1007%2F978-981-15-5580-0_29

TI - Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment

T2 - Smart Innovation, Systems and Technologies

AU - Chebotareva, Elvira

AU - Hsia, Kuo-Hsien

AU - Yakovlev, Konstantin

AU - Magid, Evgeni

PY - 2020

DA - 2020/09/02 00:00:00

PB - Springer Nature

SP - 357-369

VL - 187

SN - 2190-3018

SN - 2190-3026

ER -

BibTex

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BibTex Copy

@incollection{2020_Chebotareva,

author = {Elvira Chebotareva and Kuo-Hsien Hsia and Konstantin Yakovlev and Evgeni Magid},

title = {Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment},

publisher = {Springer Nature},

year = {2020},

volume = {187},

pages = {357--369},

month = {sep}

}

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Publisher

Springer Nature

Journal

Smart Innovation, Systems and Technologies

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Quartile WOS

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ISSN

21903018 (Print)
21903026 (Electronic)

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