Title :
Human following with a mobile robot based on combination of disparity and color images
Author :
Isobe, Yuzuka ; Masuyama, Gakuto ; Umeda, Kazunori
Author_Institution :
Sch. of Sci. & Eng., Chuo Univ., Tokyo, Japan
Abstract :
This paper presents a target tracking system for a mobile robot in both indoor and outdoor environments. A stereo camera, which is robust to sunlight and illumination changes, is used. Human regions in images are detected from 3D information. Using color information, a target region is discriminated from the detected human regions. Hue and saturation are chosen as features robust to illumination changes. Finally, a mobile robot is controlled based on the 3D information of the detected target region. The effectiveness of the proposed system is verified through human following experiments in both indoor and outdoor environments.
Keywords :
cameras; feature extraction; image colour analysis; mobile robots; path planning; stereo image processing; target tracking; color images; color information; hue; illumination changes; image detection; indoor environments; mobile robot; outdoor environments; saturation; stereo camera; sunlight changes; target tracking system; Cameras; Histograms; Image color analysis; Lighting; Mobile robots; Target tracking;
Conference_Titel :
Mecatronics (MECATRONICS), 2014 10th France-Japan/ 8th Europe-Asia Congress on
Conference_Location :
Tokyo
DOI :
10.1109/MECATRONICS.2014.7018569