Publications:Tracking of People in Paper Mill Warehouse Using Laser Range Sensor


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Title Tracking of People in Paper Mill Warehouse Using Laser Range Sensor
Author Hassan Mashad Nemati and Björn Åstrand
Year 2014
PublicationType Conference Paper
HostPublication UKSim-AMSS Eighth European Modelling Symposium on Computer Modelling and Simulation, EMS 2014
Conference 2014 UKSim-AMSS 8th European Modelling Symposium, EMS 2014, Pisa, Italy, 21-23 October, 2014
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Abstract In this paper a laser scanner based approach for simultaneous detection and tracking of people in an indoor environment is presented. The operation of an autonomous truck, for transporting paper reels in a dynamic environment shared with humans, is considered as the application setting for this work. Here, a human leg detection procedure and an Extended Kalman Filter (EKF) based tracking method are employed for real-time performance. Several experiments with different data sets collected from an autonomous forklift truck in a paper mill warehouse have been performed in an offline situation. The results show how the system is able to detect and track multiple moving people. ©2014 IEEE.