Implementation of JPDAFs to track humans for a mobile robot with a Laser range finder

Abstract

Human tracking has become an important part in the mobile robotics community to achieve human-friendly navigation. When it comes to extracting humans from sensor data when there are many people in its environment, matching between targets and measurements can be a significant problem. In this paper, a single laser range finder is adopted as a sensor, and we implement JPDAFs, one of the most eminent methods for matching, to track humans. The performance is tested through experiments on actual human walking.