[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.9708/jksci.2017.22.12.017

Person Tracking by Detection of Mobile Robot using RGB-D Cameras

Kim, Young-Ju (Division of Computer Software Engineering, Silla University)

Publication Information

Journal of the Korea Society of Computer and Information / v.22, no.12, 2017 , pp. 17-25 More about this Journal

Abstract

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

Keywords

Mobile Robot; ROS; RGB-D Camera; Person tracking by detection; SLAM-based navigation;

Citations & Related Records

Times Cited By KSCI : 2 (Citation Analysis)

Reference
Cited By KSCI

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