Title :
Person following with obstacle avoidance based on multi-layered mean shift and force field method
Author :
Yun, Woo-han ; Kim, DoHyung ; Lee, Jaeyeon
Author_Institution :
Robot/Cognition Syst. Res. Dept., Electron. & Telecommun. Res. Inst., Daejeon, South Korea
Abstract :
The paper presents the person following method with obstacle avoidance. The robot is equipped with RGB camera and laser range finder. The method is based on the target person tracking using multi-layered mean shift and three force fields based obstacle avoidance. To validate the method, we applied this method on the robot platform. The experimental result and analysis are presented in the experiment.
Keywords :
cameras; collision avoidance; laser ranging; mobile robots; robot vision; target tracking; RGB camera; force field method; laser range finder; multilayered mean shift; obstacle avoidance; person following method; target person tracking; Lasers; Robots; mean shift; obstacle avoidance; person following;
Conference_Titel :
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-6586-6
DOI :
10.1109/ICSMC.2010.5642017
