A robust person tracking and following approach for mobile robot

被引：10

作者：

Hu, Chunhua ^{[1
]}

Ma, Xudong ^{[1
]}

Dai, Xianzhong ^{[1
]}

机构：

[1] SE Univ, Sch Automat, Nanjing 210018, Jiangsu, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

mobile robot; tracking and following; color features; contour of head-shoulder;

D O I：

10.1109/ICMA.2007.4304139

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The ability to detect and follow a specific person is considered to be a key prerequisite of service mobile robots in indoor environments. A novel vision-based tracking and following method for a mobile robot is proposed, which combines the clothes color features of the person's upper body and the contour of the head-shoulder. Horizontal-Projecting Probability Histogram (HPPH) of torso based on particular color clothes of upper body is proposed for extracting the pattern features, and the contour matching method by the head-shoulder is integrated to reduce the false positive detection rate, which significantly improves the tracking reliability. The proportional compensation method is utilized to enable the robot to follow the targeted person. Experimental results validate the robust performance of the approach.

引用

页码：3571 / 3576

页数：6

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