LRFを用いた「だるまさんが転んだ」における「幅判定手法」の効果

抄録

We developed a robot which plays the game “Red Light, Green Light” with people by applying a human tracking method using a Laser Range Finder (LRF). When tracking a person using the previous method, the robot may lose the person when he/she moves with a large movement, such as waving arms. Therefore it prevented the threshold from moving to an arm using the “width judgment method” to compare the width of the body with the arm and reduced the lose of the target. However, it is ineffective in that it overlaps the arm and the body and the robot lose sight. Therefore I suggest an “overlap method” which prevents the robot from losing sight using this method.