Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge | Zendy

Yoshihiro Takita | Zendy; Shinya Ohkawa | Zendy; Hisashi DATE | Zendy

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Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge

Author(s) -

Yoshihiro Takita,

Shinya Ohkawa,

Hisashi DATE

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0451

Subject(s) - computer science , pedestrian , lidar , robot , mobile robot , course (navigation) , artificial intelligence , simulation , computer vision , human–computer interaction , computer security , transport engineering , engineering , remote sensing , geography , aerospace engineering

[abstFig src='/00280004/03.jpg' width='300' text='Smart Dump 9 started at the Tsukuba Challenge 2015 final' ] The Tsukuba Challenge course includes a pedestrian road in which walkers, bicyclists, and mobile robots coexist. As a result, mobile robots encounter potentially dangerous situations when faced with moving bicycles. Navigating the challenge course involves locating target individuals in the search area and paying attention to the safety of bicyclists. Target individuals involve those who typically wear a cap and a refracted vest and are seated on chairs. This study proposes a method to identify pedestrians, bicyclists, and seated individuals by using a 3D LiDAR on Smart Dump 9. The SVM method was employed to identify the target seated individuals. An experiment was conducted on the challenge course to illustrate the advantages of the proposed method.

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