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Multi-Sensor Person Following in Low-Visibility Scenarios
Department of Computer Science and Engineering, Jaume I University, Vicent Sos Baynat, s/n, 12071 Castellón, Spain
* Author to whom correspondence should be addressed.
Received: 24 August 2010; in revised form: 16 September 2010 / Accepted: 25 November 2010 / Published: 3 December 2010
Abstract: Person following with mobile robots has traditionally been an important research topic. It has been solved, in most cases, by the use of machine vision or laser rangefinders. In some special circumstances, such as a smoky environment, the use of optical sensors is not a good solution. This paper proposes and compares alternative sensors and methods to perform a person following in low visibility conditions, such as smoky environments in firefighting scenarios. The use of laser rangefinder and sonar sensors is proposed in combination with a vision system that can determine the amount of smoke in the environment. The smoke detection algorithm provides the robot with the ability to use a different combination of sensors to perform robot navigation and person following depending on the visibility in the environment.
Keywords: low-visibility; smoke; risky environment; laser rangefinder; ultrasound; TDoA
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Sales, J.; Marín, R.; Cervera, E.; Rodríguez, S.; Pérez, J. Multi-Sensor Person Following in Low-Visibility Scenarios. Sensors 2010, 10, 10953-10966.
Sales J, Marín R, Cervera E, Rodríguez S, Pérez J. Multi-Sensor Person Following in Low-Visibility Scenarios. Sensors. 2010; 10(12):10953-10966.
Sales, Jorge; Marín, Raúl; Cervera, Enric; Rodríguez, Sergio; Pérez, Javier. 2010. "Multi-Sensor Person Following in Low-Visibility Scenarios." Sensors 10, no. 12: 10953-10966.