抄録
This paper proposes a novel people tracking algorithm with a laser range scanner. Most of tracking systems with laser range scanners have the problems of occlusions and the harmful effects of noise. Generally, human tracking systems utilize particle filter to solve those problems. However, if there are several people in the measurement range of laser scanners, particles are distributed to only a certain human. In this paper, a particle filter including particle distribution control is proposed to track several people. Experimental results show that stable tracking of multiple people is achieved.
