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Accession number;02A0713950
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| Title;Estimating Paths for a Mobile Robot by Looking at Walking People. |
| Author;
TANAKA KANJI
(Future Univ.-Hakodate, JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.5;PAGE.2P2.D01(1)-2P2.D01(2)(2002)
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| Figure&Table&Reference;FIG.4, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper presents a vision-based method for mobile robots to detect collision-free paths by tracking walking people. The method (1) extracts person's regions from each image frame by background subtraction, and (2) recovers paths from the trajectories of persons in successive frames. To cope with the uncertainties inherent in the processes, obtained paths as well as their reliability are represented in Hierarchical Reliability Maps (HRM). We will show that HRM can be used for robust path planning. (author abst.) |
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