Treffer: Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.

Title:
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
Authors:
Martínez-Sánchez, María Alcázar, Martínez-Rodríguez, Jorge Luis, Morales-Rodríguez, Jesús
Publication Year:
2024
Collection:
RIUMA - Repositorio Institucional de la Universidad de Málaga
Subject Terms:
Movimiento - Detección, Robótica, Algoritmos difusos, Motion sensing, Pedestrian detection, Data segmentation, Fuzzy algorithm, Mobile robot, Laser rangefinder
Document Type:
Fachzeitschrift article in journal/newspaper
Language:
English
Relation:
https://hdl.handle.net/10630/29956
DOI:
10.3390/electronics4010082
Availability:
https://hdl.handle.net/10630/29956
https://doi.org/10.3390/electronics4010082
Rights:
info:eu-repo/semantics/openAccess ; http://creativecommons.org/licenses/by/4.0/ ; Atribución 4.0 Internacional
Accession Number:
edsbas.949439F2
Database:
BASE

Weitere Informationen

Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously matched with robot odometry. The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate the motion of nearby pedestrians. ; This work was partially supported by the Spanish CICYT project DPI 2011-22443 and the Andalusian project PE-2010 TEP-6101. 10% Partial funding for open access charge: Universid