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http://dx.doi.org/10.5302/J.ICROS.2014.13.1954

Person-following of a Mobile Robot using a Complementary Tracker with a Camera-laser Scanner  

Kim, Hyoung-Rae (Department of Robotics, Inha University)
Cui, Xue-Nan (Department of Information & Communication Engineering, Inha University)
Lee, Jae-Hong (Department of Information & Communication Engineering, Inha University)
Lee, Seung-Jun (Department of Information & Communication Engineering, Inha University)
Kim, Hakil (Department of Information & Communication Engineering, Inha University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.1, 2014 , pp. 78-86 More about this Journal
Abstract
This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.
Keywords
object tracking; person-following; mobile robot; camera-LRF extrinsic calibration;
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Times Cited By KSCI : 3  (Citation Analysis)
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