Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge

Abstract

The Tsukuba Challenge course includes a pedestrian road in which walkers, bicyclists, and mobile robots coexist. As a result, mobile robots encounter potentially dangerous situations when faced with moving bicycles. Navigating the challenge course involves locating target individuals in the search area and paying attention to the safety of bicyclists. Target individuals involve those who typically wear a cap and a refracted vest and are seated on chairs. This study proposes a method to identify pedestrians, bicyclists, and seated individuals by using a 3D LiDAR on Smart Dump 9. The SVM method was employed to identify the target seated individuals. An experiment was conducted on the challenge course to illustrate the advantages of the proposed method.