DocumentCode :
3008046
Title :
RFID and vision based person tracking of a mobile robot using improved compressive tracking
Author :
Lijia Wang ; Songmin Jia ; Xiuzhi Li ; Shuang Wang
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
fYear :
2013
fDate :
26-28 Aug. 2013
Firstpage :
1171
Lastpage :
1176
Abstract :
This paper presents a person detection and tracking method for a mobile robot by fusing the data from Radio Frequency Identification (RFID) and stereo camera. The RFID system detects a person wearing an ID tag and a course position estimate of the person is obtained. The stereo camera is used for person detection based on the compressive sensing theory. Less Haar-like features are extracted from compressed domain to represent the person by a sparse measurement matrix. Furthermore, an improved Bayesian classifier is presented to handle appearance changes caused by illumination, pose, occlusion and motion in the tracking process. The detections from the RFID and the stereo camera are fused to obtain the final position which will be passed onto the controller of the robot. An Intelligent Gear Shift Control strategy is presented to adjust the robot´s linear velocity and turning radius automatically to follow the detected person. The experimental results show that the presented method performs well in terms of robustness and efficiency.
Keywords :
Bayes methods; feature extraction; mobile robots; object tracking; radiofrequency identification; Bayesian classifier; Haar-like feature extraction; ID tag; RFID system; compressive sensing theory; compressive tracking; course position estimate; illumination; intelligent gear shift control strategy; mobile robot; motion; occlusion; person detection; pose; radio frequency identification; robot linear velocity; sparse measurement matrix; stereo camera; tracking process; vision based person tracking; Cameras; Feature extraction; Mobile robots; Radiofrequency identification; Robot vision systems; Target tracking; Compressive sensing; Intelligent Gear Shift Control Strategy; Radio Frequency Identification (RFID); Stereo camera; person detection and tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
Type :
conf
DOI :
10.1109/ICInfA.2013.6720472
Filename :
6720472
Link To Document :
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