Title :
Person Following Robot ApriAttenda
Author :
Yoshimi, Takashi ; Nishiyama, Masahiro ; Sonoura, T. ; Nakamoto, Hiroyuki ; Tokura, Susumu ; Sato, Hikaru ; Ozaki, F. ; Matsuhira, Nobuto ; Mizoguchi, Hiroshi
Abstract :
We have developed the person following robot "ApriAttenda(TM)". This robot can accompany a person using vision based target detection and avoid obstacles with ultrasonic sensors. The robot first identifies an individual with its image processing system by detecting a person\´s region and recognizing the registered color and texture of his/her clothes. Our newly developed algorithm allows the robot to extract a particular individual from a cluttered background, and to find and reconnect with the person if it loses visual contact. Tracking people with vision was realized by systematizing visual and motion control with a robust algorithm that utilizes various characteristics of the image data. ApriAttenda(TM) has been exhibited at Aichi EXPO 2005, and its robust functions and smooth person following capability were successfully demonstrated.
Keywords :
Color; Data mining; Image processing; Image recognition; Motion control; Object detection; Robot sensing systems; Robot vision systems; Robust control; Tracking;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282209
