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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)
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publication PlacePiscataway, NJ, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977261
WOS IDWOS:000393066203106
Contribution Rank2
KeywordEllipse Target Detecting State Estimation
AbstractState 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.
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Document Type会议论文
Affiliation1.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
Recommended Citation
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.
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