Detection and tracking of human legs for a mobile service robot

摘要: Many service robots and various modules are being developed. Robots for services, such as guiding, escorting, nursing, require human-friendly navigation, which is an appropriate objective of interaction. This paper proposes a method mobile robot to detect human leg follow the interaction with him/her. Most human-tracking schemes in utilize vision sensors laser range scanners. Generally, confirm distance through scanner after recognizing by vision. Our approach clearly reveals attributes one used obstacles localize. Using that have been experimentally obtained accuracy data scanner; we striven be able distinguish legs their environment. We applied our suggested walking model case where lost track target person's failed those legs.