| 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)
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| 作者部门: | 机器人学研究室
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| 会议名称: | 11th World Congress on Intelligent Control and Automation (WCICA 2014)
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| 会议日期: | June 29 - July 4, 2014
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| 会议地点: | Shenyang, China
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| 会议录: | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
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| 会议录出版者: | IEEE
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| 会议录出版地: | Piscataway, NJ, USA
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| 出版日期: | 2014
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| 页码: | 3568-3572
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| 收录类别: | EI
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| ISBN号: | 978-1-4799-5825-2
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| 关键词: | ellipse
; target detecting
; state estimation
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| 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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| 产权排序: | 2
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| EI收录号: | 20152600977261
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/16933
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| Appears in Collections: | 机器人学研究室_会议论文
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| State estimation of moving objects based on ellipses.pdf（994KB） | 会议论文 | -- | 开放获取 | | View
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| Recommended Citation: | |
Chen Y,Cheng L,Wu HY,et al. State estimation of moving objects based on ellipses[C]. 11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.State estimation of moving objects based on ellipses.
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