中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: State estimation of moving objects based on ellipses
作者: 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: Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 3568-3572
收录类别: EI
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
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16933
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
State estimation of moving objects based on ellipses.pdf(994KB)会议论文--开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Chen Y(陈洋)]'s Articles
[Cheng L(程磊)]'s Articles
[Wu HY(吴怀宇)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Chen Y(陈洋)]‘s Articles
[Cheng L(程磊)]‘s Articles
[Wu HY(吴怀宇)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: State estimation of moving objects based on ellipses.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace