DocumentCode :
3782120
Title :
A person following behaviour for a mobile robot
Author :
H. Sidenbladh;D. Kragic;H.I. Christensen
Author_Institution :
Dept. of Numerical Anal. & Comput. Sci., R. Inst. of Technol., Stockholm, Sweden
Volume :
1
fYear :
1999
Firstpage :
670
Abstract :
In this paper, a person following behaviour for a mobile robot is presented. The head of the person is located using skin colour detection. Then, a control loop is fed with the camera movements required to put the upper part of the person in the center of the image. The algorithm was tested in different rooms of a research lab. It performed well in all lighting conditions except in direct sunlight. Since the background and lighting cannot be controlled, the vision algorithm must be robust to such changes. However, since the computing power is quite limited, the algorithm must have as low complexity as possible.
Keywords :
"Mobile robots","Robot vision systems","Cameras","Computer vision","Skin","Image motion analysis","Numerical analysis","Lighting control","Humans","Machine vision"
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-5180-0
Type :
conf
DOI :
10.1109/ROBOT.1999.770052
Filename :
770052
Link To Document :
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