Dynamic Object Identification by a Moving Robot Using Laser Data
نویسندگان
چکیده
Detection of moving objects around a mobile robot is important for safe navigation. This paper presents a robust technique for detecting moving objects using a laser ranger mounted on a mobile robot. After the initial alignment of the two consecutive laser scans, each laser reading is segmented and classified according to object type, stationary, non-stationary or indeterminate. Laser reading segments are then analyzed using an algorithm to maximally recover the moving objects. The proposed algorithm has the ability to recover all possible laser readings that belong to moving objects. The developed algorithm is verified using experimental results in which, a walking human is detected by a moving robot.
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