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| Robotics and Autonomous Systems | ||
| Volume 25, Issues 1-2 |  |
Abstract |
| 31 October 1998 | Journal Format-PDF (781 K) | |
| Pages 117-126 |
PII: S0921-8890(98)00006-2
A method for sonar based recognition of walking people
Angelo M. Sabatinia, * and Valentina Collaa
a Advanced Robotics Technology and Systems Lab
(ARTS-Lab) Scuola Superiore S. Anna, Via Carducci 40 56127 Pisa Italy
Received 23 July 1997; revised 16 March 1998; accepted 16 March 1998.
Available online 12 February 1999.
In this paper we investigate the problem of recognising a person based on the rhythmic features of human walking. The perceptual task is performed using in-air sonar sensors.
A linear array sensing head with limited complexity is developed to achieve the stated goal; the method of sensory information processing implemented in the device is a blend of grid based mapping and wavelet based multiresolution analysis. Grid based mapping allows to perform detection and tracking of a moving object at the highest signal-to-noise ratios; wavelet based multiresolution analysis allows us to detect the features that are peculiar to walking people in the range measurement sequence extracted from a single sonar sensor of the sensing head. Experimental tests on a number of moving objects with highly time-varying target strengths are carried out; the results prove the feasibility of the approach in terms of recognition rate and acquisition time.
The present study contributes to understanding how in-air sonar sensors behave and interact with complex scatterers such as the human body; also, it offers promise for novel applications of sonar technologies in the field of advanced robotics, where the close interaction between human users and robotic systems is on stage.
Author Keywords: Sonar sensing; Human body detection;
Sensory information processing
*Corresponding author.
| Robotics and Autonomous Systems | |
Abstract Journal Format-PDF (781 K) |
| Volume 25, Issues 1-2 | ||
| 31 October 1998 | ||
| Pages 117-126 |
| 8 of 9 | |
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