We are developing a robot that can play an outdoor game with children. In realizing such a robot, the person detection and tracking methods play an important role. In this paper, we propose methods for improving person detection and tracking using a laser range finder (LRF). A problem facing player detection using an LRF during play is that detection of a player’s body sometimes fails because of the posture of the player. Thus, we propose two improvements of the conventional person detection algorithm. One is to determine the body boundary when an arm overlaps the body, and the other is to choose the most probable object as the body among the detected objects. Another problem is how to track players who are hidden by other players. We introduce a new algorithm to robustly track a player even when the player is behind other players. We conducted three experiments. In the first experiment, we investigate the performance improvement by the proposed player detection algorithm. The second experiment proves that the proposed player-tracking algorithm can robustly track a player even after the LRF has lost that player. In the last experiment, we conduct the game Darumasan ga Koronda using the developed system and confirm that the system can perform the game without large problems.
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机译：我们正在开发一个可以与孩子一起玩室外游戏的机器人。在实现这样的机器人时，人检测和跟踪方法发挥着重要作用。在本文中，我们提出了使用激光测距仪（LRF）改善人检测和跟踪的方法。在播放期间使用LRF的玩家检测的问题是，由于玩家的姿势，检测玩家的身体有时会失败。因此，我们提出了两种改进了传统人物检测算法。一个是当臂与主体重叠时确定车身边界，另一个是选择最可能的物体作为检测到的对象中的主体。另一个问题是如何跟踪被其他玩家隐藏的玩家。我们介绍了一种新的算法，即使播放器落后于其他玩家，也会强大地跟踪玩家。我们进行了三个实验。在第一个实验中，我们通过提出的玩家检测算法调查性能改进。第二个实验证明，即使在LRF丢失那名球员之后，拟议的玩家跟踪算法也可以稳健地跟踪玩家。在最后一次实验中，我们使用开发系统进行Darumasan Ga Koronda，并确认系统可以在没有大问题的情况下执行游戏。
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