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

Author: Goldhoorn, A.; Garrell, A.; Alquezar, R.; Sanfeliu, A.

Type of activity: Journal article
Journal: Robotics and autonomous systems
Date of publication: 2017-12-01
Volume: 98
First page: 147
Last page: 157
DOI: https://doi.org/10.1016/j.robot.2017.06.005
Project funding: Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenance

Repository: http://hdl.handle.net/2117/114791
URL: http://www.sciencedirect.com/science/article/pii/S0921889016302603?via%3Dihub
Abstract: 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...

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 uncertainty, with false negative detections, lack of a person detection, in continuous space and real-time. Moreover, this method uses dynamic obstacles to improve the predicted possible location of the person. Comparisons have been made with our previous method, the Adaptive Highest Belief Continuous Real-time POMCP Follower, in different conditions and with dynamic obstacles. Real-life experiments have been done during two weeks with a mobile service robot in two urban environments of Barcelona with other people walking around. © . This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
Citation: 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.
Keywords: Human-robot-interaction, Particle filter, Search and rescue robots, Urban robotics

Group of research: VIS - Artificial Vision and Intelligent Systems

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