Laser based people following behaviour in an emergency environment

Jose Maria Martínez-Otzeta; Aitor Ibarguren; Ander Ansuategi; Loreto Susperregi

doi:10.1007/978-3-642-10817-4_4

Laser based people following behaviour in an emergency environment

Jose Maria Martínez-Otzeta
, Aitor Ibarguren
, Ander Ansuategi
, Loreto Susperregi

TEKNIKER

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.

Original language	English
Title of host publication	Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings
Pages	33-42
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-642-10817-4_4
Publication status	Published - 2009
Externally published	Yes
Event	2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 - Singapore, Singapore Duration: 16 Dec 2009 → 18 Dec 2009

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5928 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
Country/Territory	Singapore
City	Singapore
Period	16/12/09 → 18/12/09

Access to Document

10.1007/978-3-642-10817-4_4

Cite this

Martínez-Otzeta, J. M., Ibarguren, A., Ansuategi, A., & Susperregi, L. (2009). Laser based people following behaviour in an emergency environment. In Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings (pp. 33-42). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5928 LNAI). https://doi.org/10.1007/978-3-642-10817-4_4

Martínez-Otzeta, Jose Maria ; Ibarguren, Aitor ; Ansuategi, Ander et al. / Laser based people following behaviour in an emergency environment. Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings. 2009. pp. 33-42 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{ec4bd831b29a4109bd9c17a7c6232572,

title = "Laser based people following behaviour in an emergency environment",

abstract = "Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.",

author = "Mart{\'i}nez-Otzeta, \{Jose Maria\} and Aitor Ibarguren and Ander Ansuategi and Loreto Susperregi",

year = "2009",

doi = "10.1007/978-3-642-10817-4\_4",

language = "English",

isbn = "3642108164",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "33--42",

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note = "2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 ; Conference date: 16-12-2009 Through 18-12-2009",

}

Martínez-Otzeta, JM, Ibarguren, A, Ansuategi, A & Susperregi, L 2009, Laser based people following behaviour in an emergency environment. in Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5928 LNAI, pp. 33-42, 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009, Singapore, Singapore, 16/12/09. https://doi.org/10.1007/978-3-642-10817-4_4

Laser based people following behaviour in an emergency environment. / Martínez-Otzeta, Jose Maria; Ibarguren, Aitor; Ansuategi, Ander et al.
Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings. 2009. p. 33-42 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5928 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Laser based people following behaviour in an emergency environment

AU - Martínez-Otzeta, Jose Maria

AU - Ibarguren, Aitor

AU - Ansuategi, Ander

AU - Susperregi, Loreto

PY - 2009

Y1 - 2009

N2 - Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.

AB - Rescue robots have a large application potential in rescue tasks, minimizing risks and improving the human action in this kind of situations. Given the characteristics of the environment in which a rescue robot has to work, sensors may suffer damage and severe malfunctioning. This paper presents a backup system able to follow a person when camera readings are not available, but the laser sensor is still working correctly. A probabilistic model of a leg shape is implemented, along with a Kalman filter for robust tracking. This system can be useful when the robot has suffered some damage that requires it to be returned to the base for repairing.

UR - https://www.scopus.com/pages/publications/76649127464

U2 - 10.1007/978-3-642-10817-4_4

DO - 10.1007/978-3-642-10817-4_4

M3 - Conference contribution

AN - SCOPUS:76649127464

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SN - 9783642108167

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings

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Martínez-Otzeta JM, Ibarguren A, Ansuategi A, Susperregi L. Laser based people following behaviour in an emergency environment. In Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings. 2009. p. 33-42. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-10817-4_4

Laser based people following behaviour in an emergency environment

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