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JRM Vol.28 No.4 pp. 451-460
doi: 10.20965/jrm.2016.p0451
(2016)

Paper:

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

Yoshihiro Takita*, Shinya Ohkawa*, and Hisashi Date**

*Department of Computer Science, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

**Faculty of Engineering, Information and Systems, University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8577, Japan

Received:
March 9, 2016
Accepted:
April 21, 2016
Published:
August 20, 2016
Keywords:
Real World Robotics Challenge, mobile robot, 3D LiDAR, identification
Abstract

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

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.

Cite this article as:
Y. Takita, S. Ohkawa, and H. Date, “Recognition Method Applied to Smart Dump 9 Using Multi-Beam 3D LiDAR for the Tsukuba Challenge,” J. Robot. Mechatron., Vol.28, No.4, pp. 451-460, 2016.
Data files:
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Last updated on Nov. 16, 2018