Title :
An optical-flow person following behaviour
Author :
Piaggio, Maurizio ; Fornaro, Roberto ; Piombo, Alberto ; Sanna, Luca ; Zaccaria, Renato
Author_Institution :
DIST, Genoa Univ., Italy
Abstract :
Optical flow is a biologically inspired computation that has been widely used for tracking the movement of objects in a scene. This paper presents its novel application to an autonomous robot that is required to follow a person in an everyday environment. This robot skill is implemented as one of many concurrent behaviours and it is integrated in a general architecture called ERASMUS-Expert based Robot Architecture for Sensing and Moving in Unknown Surroundings. The details of the method are described as well as its integration in ERASMUS. Experimental results, evaluating both the performance and the reliability of our approach, will also be provided
Keywords :
image sequences; intelligent control; mobile robots; optical tracking; robot vision; ERASMUS; autonomous robot; concurrent behaviours; expert-based robot architecture; optical-flow person following behaviour; unknown surroundings; Biology computing; Biomedical optical imaging; Image motion analysis; Land surface; Layout; Navigation; Optical computing; Optical sensors; Robot sensing systems; Tracking;
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Conference_Location :
Gaithersburg, MD
Print_ISBN :
0-7803-4423-5
DOI :
10.1109/ISIC.1998.713678
