基于激光测距仪的快速移动物体的跟踪.pdfVIP

Proceedings of the 2001 IEEE International Conference on Robotics 8 Automation Seoul, Korea. May 21-26, 2001 Fast and Robust Tracking of Multiple Moving Objects with a Laser Range Finder Boris Kluge Christian Kohler Erwin Prassler (kluge,koehler,prasslerl@faw.uni-ulm.de Research Institute for Applied Knowledge Processing, Helmholtzstr. 16, 89081 Ulm, Germany Abstract Matching multiple moving point objects by comput- ing minimum weight matchings in bipartite graphs is In this paper we focus on the task of tracking multiple mentioned in [AM0931 as an application example. Our moving objects in rapidly changing, dynamic environ- network optimization approach is inspired by this ap- ments. Objects are extracted from laser range finder plication example and the relationship between match- images and correspondences between successive images ings and flows in bipartite graphs [AM093, Law761. are established by network optimization techniques. The approach is implemented on a robotic wheelchair, 1.2 Overview used in two applications and evaluated experimentally. Keywords: robot sensing, object tracking, dy- Tracking of objects around the robot is performed by namic enviroriment, laser range finder, network flows, repeated execution of the following steps. At the be- combinatorial optimization. ginning of each cycle a scan image of the environment