NDLI: Recognizing people based on their footsteps using a wearable accelerometer

Content Provider	IEEE Xplore Digital Library
Author	Becker, H. Burgard, W.
Copyright Year	2010
Description	Author affiliation: Robert Bosch GmbH, Corporate Sector Research and Advance Engineering, D-70442 Stuttgart, Germany (Becker, H.) \|\| University of Freiburg, Department of Computer Science, D-79110, Germany (Burgard, W.)
Abstract	Collaboration of mobile robots and people generate the need for methods allowing the robot to reliable identify a person. The robust identification of the user is especially important in the context of people tracking when there are frequent occlusions. In this paper we present a novel approach for recognizing the user of a mobile robot. Our approach assumes that the user wears a mobile footstep sensor whose data are fused with footstep data extracted from leg movements of people. It relies on a recursive Bayesian estimation scheme to calculate a posterior about the potential associations between the different footstep perceptions. Our approach has been implemented and tested on real data. In simulated experiments, in which we use ground truth leg movement data recorded with a motion capture suite, and with a real robot we demonstrate the robustness of our method even when multiple people are present.
Starting Page	5404
Ending Page	5409
File Size	931946
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652977
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Leg Tracking Legged locomotion Lasers Accelerometers
Content Type	Text
Resource Type	Article

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