Title :
Person following with a RGB-D camera for mobile robots
Author :
Youngwoo Yoon ; Hosub Yoon ; Jaehong Kim
Author_Institution :
Robot/Cognitive Convergence Res. Dept., Electron. & Telecommun. Res. Inst., Daejeon, South Korea
Abstract :
This video demonstrates a person following robot that uses one RGB-D camera. A depth assisted color tracking method robustly tracks a fast moving target. The robot detects front obstacles from a depth image and avoids them. A person detector also works when the target is lost by occlusion and obstacle avoiding.
Keywords :
cameras; collision avoidance; image colour analysis; image motion analysis; mobile robots; object detection; object tracking; robot vision; RGB-D camera; depth assisted color tracking method; depth image; fast moving target; front obstacle detection; mobile robot; obstacle avoidance; occlusion; person detector; person following robot; robust tracking; Histograms; Image color analysis; Legged locomotion; Robot sensing systems; Target tracking; Person follow; RGB-D; Visual tracking;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462968
