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Searching and tracking people in urban environments with static and dynamic obstacles

Autor
Goldhoorn, A.; Garrell, A.; Alquezar, R.; Sanfeliu, A.
Tipus d'activitat
Article en revista
Revista
Robotics and autonomous systems
Data de publicació
2017-12-01
Volum
98
Pàgina inicial
147
Pàgina final
157
DOI
https://doi.org/10.1016/j.robot.2017.06.005 Obrir en finestra nova
Projecte finançador
Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenance
Repositori
http://hdl.handle.net/2117/114791 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0921889016302603?via%3Dihub Obrir en finestra nova
Resum
Searching and tracking people in crowded urban areas where they can be occluded by static or dynamic obstacles is an important behavior for social robots which assist humans in urban outdoor environments. In this work, we propose a method that can handle in real-time searching and tracking people using a Highest Belief Particle Filter Searcher and Tracker. It makes use of a modified Particle Filter (PF), which, in contrast to other methods, can do both searching and tracking of a person under un...
Citació
Goldhoorn, A., Garrell, A., Alquezar, R., Sanfeliu, A. Searching and tracking people in urban environments with static and dynamic obstacles. "Robotics and autonomous systems", 1 Desembre 2017, vol. 98, p. 147-157.
Paraules clau
Human-robot-interaction, Particle filter, Search and rescue robots, Urban robotics
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants