Laser Based People Following Behaviour in an Emergency Environment

Authors:
Jose Maria Martínez-Otzeta;Aitor Ibarguren;Ander Ansuategi;Loreto Susperregi
Affiliations:
Fundación Tekniker, Eibar, Spain 20600;Fundación Tekniker, Eibar, Spain 20600;Fundación Tekniker, Eibar, Spain 20600;Fundación Tekniker, Eibar, Spain 20600
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

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Abstract

Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.