Title :
A guide dog robot Harunobu-5-following a person
Author :
Mori, Hideo ; Sano, Mitukuni
Author_Institution :
Dept. of Electron. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
Abstract :
The concepts of guide dog robot Harunobu-5 and a stereotyped motion following a person are described. The guide dog robot consists of a mission planner, digital map, interactive navigator, vision system and undercarriage system. Following a person is activated when the robot fails to move along sign pattern. The robot stops and finds a moving pedestrian by color vision. After that the robot follows it by tracking its jacket or trousers image. The following person concept was implemented and tested on Harunobu-5 and was successful in following only one person
Keywords :
computer vision; computerised navigation; computerised pattern recognition; handicapped aids; mobile robots; planning (artificial intelligence); Harunobu-5; color vision; computer vision; computerised navigation; digital map; following person concept; guide dog robot; interactive navigator; mission planner; mobile robots; pattern recognition; undercarriage system; vision system; Costs; Dogs; Humans; Legged locomotion; Machine vision; Mobile robots; Motion detection; Roads; Robot sensing systems; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174482
