State estimation of moving objects based on ellipses | |
Chen Y(陈洋); Cheng L(程磊); Wu HY(吴怀宇); Yang YH(杨艳华) | |
作者部门 | 机器人学研究室 |
会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
会议日期 | June 29 - July 4, 2014 |
会议地点 | Shenyang, China |
会议录名称 | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 |
出版者 | IEEE |
出版地 | Piscataway, NJ, USA |
2014 | |
页码 | 3568-3572 |
收录类别 | EI ; CPCI(ISTP) |
EI收录号 | 20152600977261 |
WOS记录号 | WOS:000393066203106 |
产权排序 | 2 |
ISBN号 | 978-1-4799-5825-2 |
关键词 | Ellipse Target Detecting State Estimation |
摘要 | State estimation of moving objects in complex environments is the foundation for robot cognition and intelligence. This study focuses on targets identification and states estimation utilizing a single laser scanner, which adopts multiple ellipses to model any possible object in the field of view of the sensor. First, a nearest neighbor clustering algorithm is used to achieve the segments of the data frame. Each segment represents a potential target that consists of a group points close to each other in Euclidean distance. Then, an ellipse can be optimized with covering the group points by minimizing the ellipse area. The solution can be obtained by solving a traditional Lowner-John ellipsoid problem. The movement of the target will be replaced by the motion of the corresponding ellipse. Next, the target states are estimated by data association technique on their frame sequences. Finally, experiments with a still or moving robot mounted with a laser sensor are taken indoor and outdoor to verify the feasibility and effectiveness of our novel method. |
语种 | 英语 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.sia.cn/handle/173321/16933 |
专题 | 机器人学研究室 |
作者单位 | 1.School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
推荐引用方式 GB/T 7714 | Chen Y,Cheng L,Wu HY,et al. State estimation of moving objects based on ellipses[C]. Piscataway, NJ, USA:IEEE,2014:3568-3572. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
State estimation of (994KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论