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Electronics 2015, 4(1), 82-93; doi:10.3390/electronics4010082

Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans

Department of Systems Engineering and Automation, Universidad de Málaga, Andalucía Tech, 29071 Málaga, Spain
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Author to whom correspondence should be addressed.
Academic Editor: Vicente Milanés
Received: 15 September 2014 / Accepted: 9 January 2015 / Published: 22 January 2015
(This article belongs to the Special Issue Intelligent and Cooperative Vehicles)

Abstract

Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously matched with robot odometry. The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate the motion of nearby pedestrians.
Keywords: motion sensing; pedestrian detection; data segmentation; fuzzy algorithm; mobile robot; laser rangefinder motion sensing; pedestrian detection; data segmentation; fuzzy algorithm; mobile robot; laser rangefinder
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Martínez, M.A.; Martínez, J.L.; Morales, J. Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans. Electronics 2015, 4, 82-93.

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