Title :
Active view planing for human observation through a RGB-D camera
Author :
Jianhao Du ; Weihua Sheng
Author_Institution :
Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Tulsa, OK, USA
Abstract :
Human sensing is always an important topic for robotic applications. In this paper, we proposed an active view planning approach for human observation on a mobile robot platform with sensor data processing. The sensor adopted in our research is an inexpensive RGB-D camera. A new measure based on distance and orientation information is introduced to evaluate the quality of the viewpoint when the robot detects the human subject. The result shows that the robot can move to the best viewpoint based on the proposed approach.
Keywords :
distance measurement; image colour analysis; image sensors; mobile robots; object detection; path planning; robot vision; RGB-D camera; active view planning approach; distance information measurement; human observation; human sensing; human subject detection; mobile robot platform; orientation information measurement; quality evaluation; robotic applications; sensor data processing; Cameras; Image color analysis; Mobile robots; Robot vision systems; Skeleton;
Conference_Titel :
Robot Vision (WORV), 2013 IEEE Workshop on
Conference_Location :
Clearwater Beach, FL
Print_ISBN :
978-1-4673-5646-6
Electronic_ISBN :
978-1-4673-5647-3
DOI :
10.1109/WORV.2013.6521923