Detection of Mobile Objects for Outdoor Navigation Robots

摘要

The authors have been developing a mobile robot with sensors for various services in the university campus. A prominent feature of university campus is a substantial amount of pedestrians in the outdoor environment. This feature is also typical in the shopping streets where cars are shutout. Motivated by such facts, we propose a detection procedure of static and mobile objects in the environment, where probabilistic model is employed. In this paper, we implemented the detection algorithm in the offline mode. We demonstrate the detection experimental results, which validate the usefulness of the proposed algorithm.