Chapter 6 Conclusions and Future Works
6.2 Future Works
For the future works, the vertical edge can make the accumulation error of robot position eliminate in simultaneous localization and mapping in [13: Bacca et al. 2013].
In [39: Birk & Carpin 2006], the multiple robots can communicate each other to construct the map increasing exploration rate. The pedestrian detection and the target pedestrian tracking can use more feature. Take for example, the shape of pedestrian [35: Dalal & Triggs 2005], the database construction in specific pedestrian [40: Wang
et al. 2011], or combining the skeleton [28: Lin & Huang 2011] is a research direction.
The 3D distance sensor such as Kinect, stereo camera, or 3D LRF is an available
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operation for the indoor robot. To acquire the resolution in color image, the digital camera is used for pedestrian detection and target pedestrian tracking.
In summary, the moving object detection with inverse observation model in LRF can be a preprocessing for pedestrian detection and target pedestrian tracking. With the inverse observation model for LRF scan, the performance of the pedestrian detection and the target pedestrian tracking should increase. In this thesis, the methods provide an idea for office assistant robot. In the future, the office assistant robot is widely used.
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Appendix
Owing to the numerous data, appendix shows the complete data. Appendix A.1 presents distance convert pixel in 20 pieces of image data. Appendix A.2 provides the accuracy of lower line of bounding box extraction.