@inproceedings{7129a625118f4b37b4703defe4539298,
title = "Gait measurement for human behavior estimation against autonomous mobile robot",
abstract = "To realize a safe collision avoidance of autonomous mobile robots, understanding human behavior against the robots is important. This paper has proposed a gait measurement method for human behavior estimation against autonomous mobile robot. The proposed method using a laser range sensor consists of five observed leg patterns recognition and global nearest neighbor (GNN)-based data association with a variable validation region based on the state of each leg. To verify the effectiveness of the proposed system, a verification test in a hospital that staff is recruited as participants were carried out. From the experimental results in the hospital, we confirm that the proposed method can reduce the chance of losing track of both legs and the variable validation region can reduce the chance of false tracking.",
keywords = "Autonomous mobile robot, Data association, Global nearest neighbor, Kalman filter, Laser range sensor, Leg tracking",
author = "Ayanori Yorozu and Masaki Takahashi",
note = "Funding Information: This work was supported by Grant-in-Aid for Japan Society for the Promotion of Science (JSPS) Fellows Grant Number 25-5707 and JSPS KAKENHI Grant Number 25709015. We would like to thank the members of Graduate School of Dentistry Osaka University and Research & Development Division of Murata Machinery, LTD. for their help with data collection. Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 13th International Conference on Intelligent Autonomous Systems, IAS 2014 ; Conference date: 15-07-2014 Through 18-07-2014",
year = "2016",
doi = "10.1007/978-3-319-08338-4_74",
language = "English",
isbn = "9783319083377",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "1021--1033",
editor = "Hiroaki Yamaguchi and Nathan Michael and Karsten Berns and Emanuele Menegatti",
booktitle = "Intelligent Autonomous Systems - Proceedings of the 13th International Conference IAS, 2014",
}