Laser-based People-Following for Human-Augmented Mapping of Indoor Environments

A. Milella, C. Dimiccoli, G. Cicirelli, and A. Distante (Italy)


People-tracking, people-following, mapping, human-robot interaction.


In this paper, a method for tracking and following people in indoor environments by using a multi-sensor mobile platform is presented. The general use of the approach is in Human-Augmented Mapping (HAM). Laser range data are employed for people detection by searching for legs. A person following algorithm is then implemented allowing the robot to keep track of and pursue a human user. Results from experiments in a real indoor environment are provided to validate the approach. It is shown that the method can be successfully integrated into interactively controlled mapping and navigation systems.

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