Motion prediction and human detection using a single 2D laser range finder

Recently robots working in various situations as workplace and nursing home autonomously are expected. In those situations, it is important for such robots to recognize surrounding environment and to avoid the risk to people. We propose a method to realize an autonomous robot moving smoothly and safely with low calculation cost by performing motion prediction and human detection in dynamic or static environment. In this paper we use only a single 2D Laser Range Finder (LRF) for reducing total cost. Our proposed method leads to satisfactory results of motion prediction in dynamic environment and human detection in static environment.