With the great success that came with uploading of my recent work with the Kinect, I’ve decided to also put up my Bachelor’s thesis (which was actually available but well hidden out there already).
This work is however not based on a widely available system as the Kinect, but the general idea and software should be applicable to many generic setups including a standard 2D laser scanner with adequate scan rate. The project goal was the development of a plug-in for the Mobotware system used at the university, and the final result proved satisfactory in fulfilling the specified demands.
First part of the abstract:
The goal of this project has been to develop a software solution capable of detecting
and tracking humans in the immediate environment of mobile robots. Limitations are
imposed: only a single laser scanner (a.k.a. range finder) may be used and the final
product must be compatible with the Mobotware framework. In compliance with
these demands, the chosen solution has been created as a plugin running directly in
the Mobotware framework, analyzing data on shapes in the environment to separate
human legs from static objects. (…)
Detection and Tracking of People and Moving Objects, Mikkel Viager 2011
Many of the documented experiments are conducted in a virtual environment, making it easier to spot bugs during the software development process. In the final part of the report, a closer examination of real world applications is carried out to determine which factors might influence the robustness and thereby usability of the scanner and algorithm results. As explained in the report, a relatively high scan rate is needed to track moving human legs, whereas each single scan can be analyzed to filter and detect objects of a certain desired shape.
Even though this specific implementation of the algorithm might not be directly implementable on any control system, the considerations behind it are definitely valid. Thus, I don’t think this thesis will be of as much use to others as my Analysis of the Kinect, but that factor alone has not made me change my mind about uploading it for possible use as a reference. Below is the embedded version of my thesis, which can also be found on my profile over at scribd.com.
Use and refer to my thesis if you find it useful, and please leave a comment (possibly including a link to your own work) if you do =)
By Mikkel at .