Moving target tracking of mobile robots with fusion of laser scanner and monocular camera
YUAN Jing
LIU Gang-dun
SUN Qin-xuan
Abstract：Moving target tracking with mobile robots in the indoor environments is addressed. A method to localize the robot and estimate the moving target’s states is proposed based on information fusion of a laser scanner and a monocular camera. First, moving target detection, robot self-localization and map building of the environment are simultaneously accomplished using the laser data. Then, a monocular vision-based scheme to detect the target’s location is developed for measuring the range and bearing of the target. To achieve effective fusion between two kinds of sensor information, the laser scanner and the monocular camera are jointly calibrated to obtain the relative coordinate transform between them. Finally, a particle filter (PF) with the optimal importance function and importance weights is designed to fuse the measurements of the target’s range and bearing from the laser scanner and the monocular camera. The experimental results show that the proposed method can achieve satisfactory tracking performances.
Keywords：mobile robotstarget trackinglaser scannermonocular camera
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 196-204 )