Human following of a mobile service robot with single laser range finder

作     者：Yoon-chang SUNG Ho-yeon KIM Yoon-kyu YOO Joo-young PARK Woo-jin CHUNG 

作者机构：School of Mechanical EngineeringKorea University 

出 版 物：《Journal of Measurement Science and Instrumentation》 (测试科学与仪器（英文版）)

年 卷 期：2012年第3卷第1期

页      面：94-98页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：MKE(the Ministry of Knowledge Economy) Korea under the ITRC(Infor mation Technology Research Center)support programsupervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2009-C1090-0902-0007)and partly bythe MKE under the Human Resources Development Programfor Convergence Robot Specialists 

主　　题：mobile robot human following leg detection 

摘      要：The human following becomes one of the significant procedure in human-friendly navigation of mobile *** potential applications of human-following technology are developed *** paper suggests a method for a mobile robot to detect human legs and to follow the human by using a single laser range finder(LRF).We extract four simple attributes of human *** employ a support vector data description(SVDD)scheme in order to define the boundary of extracted attributes *** deal with occlusion,we designed an efficient human walking model to have robust *** proposed approaches were successfully confirmed by carrying out various experiments.