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n South African Journal of Industrial Engineering - Improved method for stereo vision-based human detection for a mobile robot following a target person

Volume 26, Issue 1
  • ISSN : 1012-277X
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Abstract

Interaction between humans and robots is a fundamental need for assistive and service robots. Their ability to detect and track people is a basic requirement for interaction with human beings. This article presents a new approach to human detection and targeted person tracking by a mobile robot. Our work is based on earlier methods that used stereo vision-based tracking linked directly with Hu moment-based detection. The earlier technique was based on the assumption that only one person is present in the environment - the target person - and it was not able to handle more than this one person. In our novel method, we solved this problem by using the Haar-based human detection method, and included a target person selection step before initialising tracking. Furthermore, rather than linking the Kalman filter directly with human detection, we implemented the tracking method before the Kalman filter-based estimation. We used the Pioneer 3AT robot, equipped with stereo camera and sonars, as the test platform.

Die interaksie tussen mense en robotte is 'n fundamentele behoefte vir ondersteunende- en dienslewerende robotte. Die robotte se vermoë om mense op te spoor en dan te volg is 'n basiese vereiste vir die interaksie tussen mense en robotte. 'n Nuwe benadering tot die opsporing en geteikende volg van mense deur 'n mobiele robot word bekendgestel. Die navorsing is op vroeër metodes wat van stereovisie gebruik gemaak het, gegrond. Die ouer algoritme is gegrond op die aanname dat net een persoon teenwoordig is in die robot se teiken omgewing - dié algoritme kon nie meer as een persoon in die robot se omgewing hanteer nie. Die nuwe metode los hierdie probleem op deur die Haar-gebaseerde menslike opsporingstegniek te gebruik. Dit sluit 'n teikenpersoonseleksie stap in voor volging begin. Verder word die volgmetode voor die Kalman filter beraming geïmplementeer. Die Pioneer 3AT robot, wat met stereokameras en sonars toegerus is, is as toetsplatform gebruik.

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/content/indeng/26/1/EJC172207
2015-05-01
2016-12-11

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