Title :
The robotic attendant: how to follow a leader through visual servoing
Author :
Chivilò, Giorgio ; Mezzaro, Flavio ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution :
DIST-Lab., Univ. of Genova, Italy
Abstract :
In This work we present a robotic attendant, i.e., a mobile platform equipped with a TV camera which is capable of following a human leader along complex trajectories. Differently from existing systems which mainly rely on the detection of colour blobs or particular features/markers, our system is based on the detection of motion through optical flow computation, thus being implicitly able to follow both persons and other robots with different physical characteristics in terms of colour, shape, etc.
Keywords :
image colour analysis; image sequences; mobile robots; motion estimation; robot vision; service robots; television cameras; TV camera; color blob detection; feature detection; mobile platform; motion detection; optical flow computation; robotic attendant; visual servoing; Cameras; Humans; Image motion analysis; Mobile robots; Motion detection; Optical computing; Physics computing; Robot vision systems; TV; Visual servoing;
Conference_Titel :
Robot and Human Interactive Communication, 2004. ROMAN 2004. 13th IEEE International Workshop on
Print_ISBN :
0-7803-8570-5
DOI :
10.1109/ROMAN.2004.1374807
