Tracking for humanoid robot based on Kinect

Author

Qiubo Zhong ; Jie Zhao ; Chunya Tong

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2014

Firstpage

1191

Lastpage

1194

Abstract

According to the high requirement in environment of tracking for humanoid robot based on vision, a recognition algorithm and control method is present using depth information extraction. The depth information is gathered by a Kinect camera from Microsoft, and an accelerated algorithm is proposed to improve the real-time requirements of image recognition. The obstacles information and robot status are gathered and an artificial potential field method based on safe region is planned to control the tracking. Finally, experiments are achieved on a real humanoid robot Nao.

Keywords

cameras; collision avoidance; feature extraction; humanoid robots; image recognition; image sensors; mobile robots; object tracking; robot vision; Kinect camera; Microsoft; Nao humanoid robot; accelerated algorithm; artificial potential field method; control method; depth information extraction; humanoid robot tracking; image recognition; obstacles information; real-time requirements; recognition algorithm; robot status; safe region; vision; Acceleration; Histograms; Humanoid robots; Real-time systems; Target tracking; Kinect; artificial potential field; humanoid robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Control (ICMC), 2014 International Conference on

Print_ISBN

978-1-4799-2537-7

Type

conf

DOI

10.1109/ICMC.2014.7231741

Filename

7231741