Laser-based people-following for human-augmented mapping of indoor environments

Authors:
Annalisa Milella;Carmine Dimiccoli;Grazia Cicirelli;Arcangelo Distante
Affiliations:
Institute of Intelligent Systems for Automation, National Research Council, Bari, Italy;Institute of Intelligent Systems for Automation, National Research Council, Bari, Italy;Institute of Intelligent Systems for Automation, National Research Council, Bari, Italy;Institute of Intelligent Systems for Automation, National Research Council, Bari, Italy
Venue:
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Year:
2007

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Abstract

In this paper, a method for tracking and following people in indoor environments by using a multi-sensor mobile platform is presented. The general use of the approach is in Human-Augmented Mapping (HAM). Laser range data are employed for people detection by searching for legs. A person following algorithm is then implemented allowing the robot to keep track of and pursue a human user. Results from experiments in a real indoor environment are provided to validate the approach. It is shown that the method can be successfully integrated into interactively controlled mapping and navigation systems.