Title :
RGB-D sensor based human detection and tracking using an armed robotic system
Author :
Kahily, Hashim Masod ; Sudheer, A.P. ; Narayanan, M.D.
Author_Institution :
Mechatron./Robot. Lab., Nat. Inst. of Technol. Calicut, Calicut, India
Abstract :
This paper presents a prototype of a military robot which implements an application of real time detection and tracking of human beings. A depth sensing camera system by Microsoft Kinect is utilized on a physical robot for human detection and aiming in static mode of operation. Human detection is obtained by using APIs of Open Natural Interaction (OpenNI) framework and the aiming routine is carried out by two different methods, firstly by using Regression Analysis between image pixels and the gun control motors, and secondly, by using inverse kinematics. The aiming performance is evaluated for both the methods and a comparison is made based on the accuracy.
Keywords :
application program interfaces; cameras; control engineering computing; image sensors; interactive devices; military computing; object detection; object tracking; regression analysis; robot kinematics; robot vision; weapons; API; Microsoft Kinect; Open Natural Interaction framework; OpenNI framework; RGB-D sensor based human detection; RGB-D sensor based human tracking; armed robotic system; depth sensing camera system; gun; inverse kinematics; military robot; physical robot; regression analysis; Calibration; Cameras; Conferences; Kinematics; Robot kinematics; Robot sensing systems; Centre of Mass; Human detection; Inverse Kinematics; Kinect; OpenNI;
Conference_Titel :
Advances in Electronics, Computers and Communications (ICAECC), 2014 International Conference on
Conference_Location :
Bangalore
DOI :
10.1109/ICAECC.2014.7002398
