Human-Position Tracking based on on-robot ToF Sensor Arrays
This research was used to model the uncertainty of the ToF sensor arrays and use the sparse point cloud data to track the human in the robot workspace.
A Kalman and Particle filter in combination with a Multi Layer Perceptron was used and the results analyzed.
Arxiv Link: https://arxiv.org/abs/1909.09750
Arora, Sarthak, Shitij Kumar, and Ferat Sahin. "Human Position Detection & Tracking with On-robot Time-of-Flight Laser Ranging Sensors." arXiv preprint arXiv:1909.09750 (2019).
Masters Thesis:
Arora, Sarthak, "Perception Methods For Speed And Separation Monitoring Using Time-of-Flight Sensor Arrays" (2019). Thesis. Rochester Institute of Technology. Accessed from
Link: https://scholarworks.rit.edu/theses/1...