LIDAR-based body orientation estimation by integrating shape and motion information

Abstract

Body orientation gives useful information on assessing a human's state and/or predicting his/her future actions. This paper presents a method of reliably estimating human body orientation using a LIDAR on a mobile robot by integrating shape and motion information. A shape database is constructed by collecting body section shape data from various viewpoints. The result of matching between an input shape with the database is combined with a UKF-based tracker which utilizes a relationship between the body orientation and the motion orientation. The experimental results shows the effectiveness of the proposed method.