Torso detection and tracking using a 2D laser range finder

Publication Type:
Conference Proceeding
Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010, 2010
Issue Date:
Full metadata record
Detecting and tracking people in populated environments has various applications including, robotics, healthcare, automotive, security and defence. In this paper, we present an algorithm for people detection and tracking based on a two dimensional laser rage finder (LRF). The LRF was mounted on a mobile robotic platform to scan a torso section of a person. The tracker is designed to discard spurious targets based on the log likelihood ratio and can effectively handle short term occlusions. Long term occlusions are considered as new tracks. Performance of the algorithm is analysed based on experiments, which shows appealing results.
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