title: Multi-sensor person following in low-visibility scenarios.
abstract: Person following with mobile robots has traditionally been an important research topic. It has been solved, in most cases, by the use of machine vision or laser rangefinders. In some special circumstances, such as a smoky environment, the use of optical sensors is not a good solution. This paper proposes and compares alternative sensors and methods to perform a person following in low visibility conditions, such as smoky environments in firefighting scenarios. The use of laser rangefinder and sonar sensors is proposed in combination with a vision system that can determine the amount of smoke in the environment. The smoke detection algorithm provides the robot with the ability to use a different combination of sensors to perform robot navigation and person following depending on the visibility in the environment.
authors.affiliation: Department of Computer Science and Engineering, Jaume I University, Vicent Sos Baynat, s/n, 12071 Castellón, Spain. salesj@icc.uji.es
authors.forename: Jorge
authors.initials: J
authors.lastname: Sales
authors.forename: Raúl
authors.initials: R
authors.lastname: Marín
authors.forename: Enric
authors.initials: E
authors.lastname: Cervera
authors.forename: Sergio
authors.initials: S
authors.lastname: Rodríguez
authors.forename: Javier
authors.initials: J
authors.lastname: Pérez
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D004777:Environment; D005390:Fires; D006801:Humans; D010363:Pattern Recognition, Automated / Q000379:methods; D058998:Remote Sensing Technology / Q000295:instrumentation* / Q000379:methods; D018635:Rescue Work; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012906:Smoke; D014785:Vision, Ocular / Q000502:physiology*
chemical_list: D012906:Smoke