Title :
A SIFT-Based person identification using a distance-dependent appearance model for a person following robot
Author :
Satake, Junji ; Chiba, M. ; Miura, Jun
Author_Institution :
Dept. of Comput. Sci. & Eng., Toyohashi Univ. of Technol., Toyohashi, Japan
Abstract :
This paper describes a person identification technique for a mobile robot which performs specific person following under dynamic complicated environments like a school canteen where many persons exist. We use the SIFT feature for identification of a person, and create the distance dependence appearance model which expects the number of SIFT feature matches based on the distance to a person. The person following experiment was conducted using an actual mobile robot, and the quality assessment of person identification was performed.
Keywords :
feature extraction; image matching; mobile robots; object detection; object tracking; robot vision; service robots; transforms; SIFT feature matching; SIFT-based person identification technique; distance-dependent appearance model; dynamic complicated environments; person following mobile robot; person identification quality assessment; scale-invariant feature transform; school canteen;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6491093
