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Dancing robot indoor pedestrian tracing method based on laser radar

A dancing robot and laser radar technology, applied in the field of robotics, can solve the problem that the pedestrian tracking method is difficult to meet short-distance pedestrian tracking and other problems

Active Publication Date: 2016-11-16
清研华宇智能机器人(天津)有限责任公司
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Problems solved by technology

[0004] In summary, the main problems of indoor pedestrian tracking methods currently applied to dancing robots are: video-based pedestrian tracking methods are difficult to meet short-distance pedestrian tracking, and lidar-based pedestrian tracking methods need to consider cost and meet real-time requirements. Therefore, it is of high application value to develop a low-cost, real-time and practical indoor pedestrian tracking method with high tracking accuracy.

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  • Dancing robot indoor pedestrian tracing method based on laser radar
  • Dancing robot indoor pedestrian tracing method based on laser radar
  • Dancing robot indoor pedestrian tracing method based on laser radar

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Embodiment Construction

[0065] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0066] The present invention will be described in detail below in conjunction with embodiments and accompanying drawings.

[0067] The invention installs the laser radar on the waist of the dancing robot, obtains the scanned distance data, and performs preprocessing and cluster analysis on the data, realizes pedestrian identification through the analysis of the clusters, graphically displays the laser data, and uses the particle filter algorithm Realize pedestrian tracking; figure 1 It is a flow chart of the indoor pedestrian tracking method of a dancing robot based on lidar in the present invention, and the method includes the following steps:

[0068] The first step, laser data preprocessing:

[0069] Place the laser radar at the waist of the dancing robot, 1m above the ground, select the URG laser radar...

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Abstract

The invention brings forward a dancing robot indoor pedestrian tracing method based on a laser radar. The method comprises the following steps of: 1, laser data preprocessing; 2, density-based laser data clustering; 3, pedestrian identification based on laser acquisition points; 4, graphical display; 5, pedestrian tracking based on particle filtering; and 6, pedestrian movement track drafting. According to the invention, pedestrians with different forms at different distances are identified by use of a single laser radar, the pedestrians at different movement modes such as static, walking and the like can be tracked, the tracking scope is wide, the real-time performance is good, and the identification and tracking accuracy is high.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a lidar-based indoor pedestrian tracking method for dancing robots. Background technique [0002] Robot technology has achieved amazing development in the past few decades. In various occasions of human life, such as medical treatment, family, restaurant, hotel, etc., there are robots that replace or work with assistants. Due to the need to coexist with people in many cases, the robot must ensure the safety of people while completing its own work, and its work level is relatively high. Actively coordinated robots can realize highly coordinated work between robots and humans under multiple sensors, and improve the possibility of coexistence with humans. Typical applications such as: In order to realize the dance robot to dance with people while in contact with people, the robot needs to observe the surrounding environment, and perform its own motion coordination accord...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/66G06K9/00
CPCG01S17/66G06V40/20
Inventor 刘召宋立滨耿美晓陈恳刘莉陈洪安赖庆文张智祥
Owner 清研华宇智能机器人(天津)有限责任公司
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