Title :
Color vision based person following with a mobile robot
Author_Institution :
Rzeszow Univ. of Technol., Poland
Abstract :
Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person´s face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot to desirable places. A fast and adaptive scheme of color processing has been tested in changing lighting conditions and using very long image sequences. The elaborated algorithm utilizes a linear Kalman filter to perform smooth tracking. The algorithms we have developed have been implemented and tested on a mobile robot equipped with an active camera. The developed system is able to track a person at approximately 10 frames per second.
Keywords :
CCD image sensors; Kalman filters; active vision; filtering theory; image colour analysis; image recognition; image sequences; mobile robots; object detection; robot vision; user interfaces; adaptive scheme; changing lighting conditions; color image processing; color vision based person following; face; human computer interaction; linear Kalman filter; mobile robot; office environments; shirt color; smooth tracking; vertical alignment; very long image sequences; Cameras; Color; Face detection; Humans; Image sequences; Machine vision; Mobile robots; Nonlinear filters; Robot programming; Robot vision systems;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177135