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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)
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
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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.
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