Laser-based people-following for human-augmented mapping of indoor environments

In this paper, a method for tracking and following people in indoor environments by using a multi-sensor mobile platform is presented. The general use of the approach is in Human-Augmented Mapping (HAM). Laser range data are employed for people detection by searching for legs. A person following algorithm is then implemented allowing the robot to keep track of and pursue a human user. Results from experiments in a real indoor environment are provided to validate the approach. It is shown that the method can be successfully integrated into interactively controlled mapping and navigation systems.