Human Position Detection Tracking with On-robot Time-of-Flight Laser Ranging Sensors
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In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time–of–flight laser ranging sensors. The sensors are affixed on each link of the robot in a circular array fashion where each array possesses sixteen single unit laser ranging lidar(s). The detection is performed by leveraging an artificial neural network which takes a highly sparse 3-D point cloud input to produce an estimate of the partial pose which is the ground projection frame of the human footprint. We also present a particle filter based approach to the tracking problem when the input data is unreliable. Ultimately, the simulation results are presented and analyzed.
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