{'fraction_non_alphanumeric': 0.016985138004246284, 'fraction_numerical': 0.0, 'mean_word_length': 5.414965986394558, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Detection and Tracking of Moving Objects

In this work is presented modules for intelligent robot navigation. Feature detection, people tracking, and navigation are essential abilities that allow robots to interact with their surrounding and with persons. The feature detection uses fast algorithms: Recursive line fitting and IAV (Internal Angle Variance), the latter being a inovative method developed in this project to accurately detect arcs/circles. A new people tracking methodology makes use of heuristics and closest pairs are applied to legs in order to keep track of persons. Scene interpretation is achieved so that architectural landmarks are recognized. A visualization tool was developed to better understand the results. Navigation is performed by an implementation of the dynamic window approach, in order to allow safe navigation in unknown environments, taking into account the dynamic and kinematic constrains of the robot.