NDLI: Stereo Vision-Based Human Tracking for Robotic Follower

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Stereo Vision-Based Human Tracking for Robotic Follower

Content Provider	SAGE Publishing
Author	Petrović, Emina Leu, Adrian Ristić-Durrant, Danijela Nikolić, Vlastimir
Copyright Year	2013
Abstract	Abstract This paper addresses the problem of real-time vision-based human tracking to enable mobile robots to follow a human co-worker. A novel approach to combine stereo vision-based human detection with human tracking using a modified Kalman filter is presented. Stereo vision-based detection combines features extracted from 2D stereo images with reconstructed 3D object features to detect humans in a robot's environment. For human tracking a modified Kalman filter recursively predicts and updates estimates of the 3D coordinates of a human in the robot's camera coordinate system. This prediction enables human detection to be performed on the image region of interest contributing to cost effective human tracking. The performance of the presented method was tested within a working scenario of a mobile robot intended to follow a human co-worker in indoor applications as well as in outdoor applications.
Related Links	https://journals.sagepub.com/doi/pdf/10.5772/56124?download=true
ISSN	17298806
Issue Number	5
Volume Number	10
Journal	International Journal of Advanced Robotic Systems (ARX)
e-ISSN	17298814
DOI	10.5772/56124
Language	English
Publisher	Sage Publications UK
Publisher Date	2013-01-01
Publisher Place	London
Access Restriction	Open
Rights Holder	© 2013 Petrović et al.; licensee InTech.
Subject Keyword	Robot Stereo Vision Kalman Filter-Based Tracking Disparity-Based Segmentation Human Detection
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Science Applications Software

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