The Detection and Following of Human Legs Based on Feature Optimized HDBSCAN for Mobile Robot

摘要

Abstract Accurate target recognition and stable follow in real clutter environment are important tasks for following a random robot. In this paper, a scheme of detecting and tracking human legs using a single lidar is proposed. The HDBSCAN algorithm is optimized by human leg characteristics, and the leg line features are fused on the basis of the density characteristics of the leg laser radar data, and the leg information of the target is clustered and its location is obtained. Based on the relative shift angle of target moving and the lock-in algorithm of tracking distance, the single target detection and tracking in unstructured environment can be realized. The lidar dataset in multiple scenes verifies that the clustering algorithm based on feature optimization improves the accuracy of target legs detection by more than 10% compared with the original algorithm. The scheme performs follow-up experiments on a self-built solid robot. The experimental results show that the robot can achieve accurate and stable human target follow in clutter environment.