localization in crowd environment

asked 2011-07-25 21:08:03 -0600

luca
96 ●1 ●2 ●8 http://www.pal-robotics.com/

Hi everybody, I'm trying to figure out how to achieve robust navigation in crowded environment. I'm using a 2-d laser scanner and amcl algorithm. Is somebody facing the same problem? Are there any other stacks/tools in ROS that address this situation?

My idea is to filter people and other moving objects from the scan, setting the occluded rays to max range and then to pass this filtered scan to the amcl. Has anybody already tried this solution? Can anybody give me a hint about it?

Thanks in advance!

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answered 2011-09-02 12:12:04 -0600

Mac

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

There's substantial scientific literature on this; the short answer is that it's tricky, but good techniques exist. There's no up-to-date ROS package for doing this.

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could you give me some references?

luca ( 2011-09-05 00:54:14 -0600 )edit

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answered 2012-09-13 23:24:18 -0600

Ibraim
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Although this is an old post maybe someone new comes looking for the same information. I have found references of doing this with the name of SLAM and DATMO. This means SLAM with detection and tracking of moving objects.

In this method the people are treated in no different way as any other moving object in the scene and probably this is a better approach as there are significant different objects in indoor and outdoor environments.

You can take a look at the following references:

Section 8.4 of the book probabilitics robotics by Fox, Thrun and Burgard
Markov localization in dynamic environments by Fox, Burgard and Thrun
Literature review of SLAM and DATMO is a good starting point
The work by Wang at the Robotics Institute CMU. His 2002, 2003 and thesis project are a valuable resource
All other references in the work of Pancham specially Montesano, Ortega and Vu PhD thesis

Hope this help anyone who arrives here.

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