DETECTION AND TRACKING

OF MOVING OBJECT WITH A

MOBILE ROBOT USING
LASER SCANNER
JIN-XIA YU , Henan Polytechnic University
ZI-XING CAI , Central South University
ZHUO-HUA DUAN , Shaoguan University

Proceedings of the Seventh International

Conference on Machine Learning and Cybernetics,
Kunming, 12-15 July 2008
In This Paper,
An autonomous approach for detection and
tracking of moving object with a mobile robot
using laser scanner is presented
Firstly, ranging data of environmental objects
from laser scanner are clustered
Secondly, the movement parameter of
clustering objects is computed by local grid
map matching.
After obtaining the moving object, particle filter
(PF) with the improved proposal distribution is
adopted to track moving object
Introduction
Biswas and colleagues proposed an algorithm
called Dogma
Wang presented a motion-based detector to
detect different kinds of moving objects and a
hypothesis tree to manage data association
Yang investigated the time-varying potential
field algorithm that is favorable to realize path
planning and objects avoidance in mobile robot
navigation
Introduction
Schulz introduced a sample-based variant of
joint probabilistic data association filters to
track features originating from individual
objects and to solve the correspondence
problem between the detected features and
the filters
Recently, laser scanner has been widely
applied into the field of detection and tracking
-high ranging precision
-good real-time performance
Detection and tracking of
Grid map building
-The objects information is the snapshot
from the laser scanner LMS291.
-Detected Points are represented in Polar
Coordinate System
-Operating environment of mobile robot is
described by 2D Cartesian grids
Detection and tracking of
moving object
Spatial clustering of objects
(1) Dynamic clustering of laser ranging data
-Difference between measured points

-If < threshould , objects between

is considered to be in the same region
-Otherwise, belongs to a new
region
-New object region is grouped repeating the
procedure until j reaches 360; so 361 laser
measurements can be divided into c different
object regions.
Detection and tracking of
moving object
Spatial clustering of objects
(2) Characteristics of clustering objects
-Centroid of object region
Detection and tracking of
moving object
Spatial clustering of objects
(2) Characteristics of clustering objects
-Moving Velocity of object region

-The quantity of object region is

defined as the grid number of its region
and its centroid
 Detection and tracking of
moving object
 Moving object detection based on grid map matching

*Algorithm:

-Step 1: to read the real-time environment

information in detection window from laser scanner at
current sample period, and to build and save the grid
map of the detection window.

-Step 2: to read the same information at next

sample period, and to build the linked list of objects at
T+1 period as the method shown in step 1

-Step 3: to search the linked list at T+1 periods, and

to match with that at T periods. The matching criterion
is the distance of the estimated coordinates between
two objects is below the threshold
 Detection and tracking of
moving object
 Moving object detection based on grid map matching

*Algorithm:

-Step 4: to implement the local grid map matching

at T and T+1 periods so as to gain the motion
parameter of the same object such as the moving
distance and orientation

-Step 5: to determinate the flag bit, that is the

motion condition of object (static or dynamic), by
judging the moving distance dΔ is below the threshold δ
whether or not. Then this record is inserted the linked
list of object

-Step 6: for the same object, to evaluate the linked

list and the grid map at T periods to at T+1 periods,
Detection and tracking of
moving object
Movement compensation of mobile robot
-Measurement Errors

: measurement error of mobile robot compared

with moving object
: denotes the ranging error of laser scanner
compared with moving object that can be
determined
: denotes the relative motion error between
mobile robot and moving object
Detection and tracking of
moving object
Moving object tracking based on the
improved particle filter

-In tracking process, EKF is usually adopted to

estimate moving object; but it exists bigger
truncation errors

-In recent, particle filter has been paid close

attention for its powerful on-line estimation
Detection and tracking of
moving object
-Motion and observation equation of moving
object

denotes the position

V is process noise
relative position of mobile robot against moving
object
robots position and orientation
W is observation noise
Estimation and Update Phase of Moving
Object with PF
Square-Root Unscented Kalman
Filter (SRUKF)
Square-Root Unscented Kalman
Filter (SRUKF)
Experimental Results
Experimental Results
Experimental Results