Human motion tracking of mobile robot with Kinect 3D sensor

Author

Machida, Eiji ; Cao, Meifen ; Murao, Toshiyuki ; Hashi, Hiroshi

Author_Institution

Tokyo Metropolitan Coll. of Ind. Technol., Tokyo, Japan

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

2207

Lastpage

2211

Abstract

This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3D position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human´s motion state. The mobile robot is controlled to track the moving human in the view of Kinect. The experimental verification result is reported in this paper.

Keywords

Kalman filters; attitude control; image motion analysis; interactive devices; mobile robots; motion control; object tracking; robot vision; sensors; state estimation; velocity control; 3D human position information; Kalman filter; Kinect 3D sensor; attitude control; human motion state estimation; human motion tracking control system; mobile robot; noise reduction; velocity control; Humans; Kalman filters; Mobile robots; Noise; Robot sensing systems; Tracking; 3D sensor; Kalman filter; Kinect; human motion tracking; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318381