DocumentCode
3483699
Title
Depth assisted person following robots
Author
Youngwoo Yoon ; Hosub Yoon ; Jaehong Kim
Author_Institution
Electron. & Telecommun. Res. Inst. (ETRI), Daejeon, South Korea
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
330
Lastpage
331
Abstract
This paper presents a person following robot equipped a RGB-D imaging sensor. We introduce three modules of a visual target tracking, target detection, and robot control. For the tracking module, distracters existing near-by the target are explicitly tracked to support target tracking. Preliminary tests showed that the robot robustly follows the target in uncontrolled environment with cluttered background and uneven illumination.
Keywords
human-robot interaction; image sensors; lighting; mobile robots; object detection; object tracking; RGB-D imaging sensor; cluttered background; depth assisted person following robots; distracters; robot control; target detection; tracking module; uneven illumination; visual target tracking; Histograms; Image color analysis; Robot sensing systems; Target tracking; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
RO-MAN, 2013 IEEE
Conference_Location
Gyeongju
ISSN
1944-9445
Type
conf
DOI
10.1109/ROMAN.2013.6628480
Filename
6628480
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