Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Special Issue on Real World Robot Challenge in Tsukuba - Autonomous Technology for Coexistence with Human Beings -
Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge
Yoshihiro TakitaShinya OhkawaHisashi Date
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JOURNAL OPEN ACCESS

2016 Volume 28 Issue 4 Pages 451-460

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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.

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© 2016 Fuji Technology Press Ltd.

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