%0 Journal Article
%T Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans
%A Mar¨ªa A. Mart¨ªnez
%A Jorge L. Mart¨ªnez
%A Jes¨²s Morales
%J Electronics
%P 82-93
%D 2015
%I MDPI AG
%R 10.3390/electronics4010082
%X Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously matched with robot odometry. The proposed method has been tested with the Auriga-¦Á mobile robot in indoors to estimate the motion of nearby pedestrians.
%K motion sensing
%K pedestrian detection
%K data segmentation
%K fuzzy algorithm
%K mobile robot
%K laser rangefinder
%U http://www.mdpi.com/2079-9292/4/1/82