Detection of Mobile Objects by Mixture PDF Model for Mobile Robots
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概要
- 論文の詳細を見る
The authors have been developing a mobile robot with sensors for various services in the university campus. A prominent feature of university campus is a substantial amount of pedestrians in the outdoor environment. This feature is also typical in the shopping streets where cars are shutout. This paper proposes an application of a stochastic model for the observation and state transition for detecting mobile objects while the localization process. This model can be treated in the framework of nonlinear Kalman filter. In this paper, we implemented the detection algorithm in the offline mode. We demonstrate the experimental detection results, which validate the usefulness of the proposed algorithm.
著者
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UMETANI Tomohiro
Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan
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Tanaka Masahiro
Faculty of Intelligence and Informatics, Konan University
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Umetani Tomohiro
Faculty of Intelligence and Informatics, Konan University
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Umetani Tomohiro
Department of Intelligence and Informatics, Konan University
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Ito Minoru
Dept. of Control Engineering, Maizuru National College of Technology
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WADA Masahiro
Faculty of Education, Okayama University
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TANAKAI Masahiro
Faculty of Intelligence and Informatics, Konan University
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