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Content Provider | IEEE Xplore Digital Library |
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Author | Chunhua Hu Xudong Ma Xianzhong Dai |
Copyright Year | 2007 |
Description | Author affiliation: Southeast Univ. Nanjing, Nanjing (Chunhua Hu; Xudong Ma; Xianzhong Dai) |
Abstract | 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. |
Starting Page | 3571 |
Ending Page | 3576 |
File Size | 653230 |
Page Count | 6 |
File Format | |
ISBN | 9781424408276 |
DOI | 10.1109/ICMA.2007.4304139 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2007-08-05 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robustness Mobile robots Target tracking Robot vision systems Torso Particle tracking Particle filters Proposals Cameras Robotics and automation Contour of head-shoulder Mobile robot Tracking and following Color features |
Content Type | Text |
Resource Type | Article |
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