Target person identification and following based on omnidirectional camera and LRF sensor fusion from a moving robot

Mehrez Kristou, Akihisa Ohya, Shin'ichi Yuta

研究成果: Article査読

4 被引用数 (Scopus)

抄録

In this paper, we introduce an approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and omnidirectional camera. Our approach is based on multisensor fusion in which a person is identified using the panoramic image and tracked using the Laser Range Finder (LRF). A target person selection is implemented to improve the identification when multiple candidates are detected. Our approach is successfully implemented on a mobile robot. A simplified target person following behavior is implemented to focus on the proposed method's efficiency. Several experiments are conducted and showed the effectiveness of our approach to identify and follow human in indoor environments.

本文言語English
ページ(範囲)X163-172
ジャーナルJournal of Robotics and Mechatronics
23
1
DOI
出版ステータスPublished - 2011 2月
外部発表はい

ASJC Scopus subject areas

  • コンピュータサイエンス一般
  • 電子工学および電気工学

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