Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Papers
Detection of Mobile Objects by Mixture PDF Model for Mobile Robots
Masahiro TanakaMasahiro WadaTomohiro UmetaniMinoru Ito
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2012 Volume 25 Issue 11 Pages 308-315

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Abstract

The authors have been developing a mobile robot with sensors for various services in the university campus. A prominent feature of university campus is a substantial amount of pedestrians in the outdoor environment. This feature is also typical in the shopping streets where cars are shutout. This paper proposes an application of a stochastic model for the observation and state transition for detecting mobile objects while the localization process. This model can be treated in the framework of nonlinear Kalman filter. In this paper, we implemented the detection algorithm in the offline mode. We demonstrate the experimental detection results, which validate the usefulness of the proposed algorithm.

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© 2012 The Institute of Systems, Control and Information Engineers
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