HOG-Based Person Following and Autonomous Returning Using Generated Map by Mobile Robot Equipped with Camera and Laser Range Finder

被引：0

作者：

Awai, Masashi ^{[1
]}

Shimizu, Takahito ^{[1
]}

Kaneko, Toru ^{[1
]}

Yamashita, Atsushi ^{[2
]}

Asama, Hajime ^{[2
]}

机构：

[1] Shizuoka Univ, Dept Mech Engn, Naka Ku, 3-5-1 Johoku, Hamamatsu, Shizuoka 4328561, Japan

[2] Univ Tokyo, Dept Precis Engn, Tokyo 1138656, Japan

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 12 , VOL 2 | 2013年 / 194卷

关键词：

Mobile Robot; Laser Range Finder; Camera; Person Following;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we propose a mobile robot system which has functions of person following and autonomous returning. The robot realizes these functions by analyzing information obtained with camera and laser range finder. Person following is performed by using HOG features, color information, and shape of range data. Along with person following, a map of the ambient environment is generated from the range data. Autonomous returning to the starting point is performed by applying a potential method to the generated map. We verified the validity of the proposed method by experiment using a wheel mobile robot in an indoor environment.

引用

页码：51 / +

页数：2

共 9 条

[1] A METHOD FOR REGISTRATION OF 3-D SHAPES [J].

BESL, PJ ;

MCKAY, ND .

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1992, 14 (02) :239-256

[2] Histograms of oriented gradients for human detection [J].

Dalal, N ;

Triggs, B .

2005 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOL 1, PROCEEDINGS, 2005, :886-893

[3]

Iwasaki S., 2008, P 3 AS INT S MECH, P1

[4] DIVERGENCE AND BHATTACHARYYA DISTANCE MEASURES IN SIGNAL SELECTION [J].

KAILATH, T .

IEEE TRANSACTIONS ON COMMUNICATION TECHNOLOGY, 1967, CO15 (01) :52-&

[5]

Lixin T., 2002, J ROBOTICS MECHATRON, V14, P366

[6]

Misawa M., 2007, J ROBOTICS SOC JAPAN, V25, P1199

[7]

Okusako S., 2006, J ROBOT SOC JPN, V24, P605, DOI DOI 10.7210/JRSJ.24.605

[8]

Sato K., 1994, P JOINT INT C MATH M, P449

[9]

Tsuda Naoki, 2009, RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, P933, DOI 10.1109/ROMAN.2009.5326252

← 1 →