Abstract
We have developed the person following robot "ApriAttenda™" . This robot can accompany a person using vision based target detection and avoid obstacles with ultrasonic sensors while following the person. The robot first identifies an individual with its image processing system by detecting a person's region and recognizing the registered color and texture of his/her clothes. Usually, the person following robot has to detect and recognize the specified person and calculate his/her position in a complicated real-life environment of fixed objects and moving people. Our newly developed algorithm allows the robot to extract a particular individual from a cluttered background, and to find and reconnect with the person if it loses visual contact. Tracking people with stereo vision was realized by systematizing visual and motion control with a robust algorithm that utilizes various characteristics of the image data. The developed algorithm uses several analyses to extract information on the distance to each feature point, speed of target, color and texture of clothes for a stable tracking in many situations including changes of view due to self motion, shifts in lighting and objects similar to the target. The person following robot ApriAttenda™ has been exhibited at Aichi EXPO 2005, and its robust functions and smooth person following capability were successfully demonstrated.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 5286-5291 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing Duration: 2006 Oct 9 → 2006 Oct 15 |
Other
| Other | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
|---|---|
| City | Beijing |
| Period | 06/10/9 → 06/10/15 |
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Keywords
- Collision avoidance
- Image processing
- Motion control
- Person following
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Development of a person following robot with vision based target detection. / Yoshimi, Takashi; Nishiyama, Manabu; Sonoura, Takafumi; Nakamoto, Hideichi; Tokura, Seiji; Sato, Hirokazu; Ozaki, Fumio; Matsuhira, Nobuto; Mizoguchi, Hiroshi.
IEEE International Conference on Intelligent Robots and Systems. 2006. p. 5286-5291 4059266.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of a person following robot with vision based target detection
AU - Yoshimi, Takashi
AU - Nishiyama, Manabu
AU - Sonoura, Takafumi
AU - Nakamoto, Hideichi
AU - Tokura, Seiji
AU - Sato, Hirokazu
AU - Ozaki, Fumio
AU - Matsuhira, Nobuto
AU - Mizoguchi, Hiroshi
PY - 2006
Y1 - 2006
N2 - We have developed the person following robot "ApriAttenda™" . This robot can accompany a person using vision based target detection and avoid obstacles with ultrasonic sensors while following the person. The robot first identifies an individual with its image processing system by detecting a person's region and recognizing the registered color and texture of his/her clothes. Usually, the person following robot has to detect and recognize the specified person and calculate his/her position in a complicated real-life environment of fixed objects and moving people. Our newly developed algorithm allows the robot to extract a particular individual from a cluttered background, and to find and reconnect with the person if it loses visual contact. Tracking people with stereo vision was realized by systematizing visual and motion control with a robust algorithm that utilizes various characteristics of the image data. The developed algorithm uses several analyses to extract information on the distance to each feature point, speed of target, color and texture of clothes for a stable tracking in many situations including changes of view due to self motion, shifts in lighting and objects similar to the target. The person following robot ApriAttenda™ has been exhibited at Aichi EXPO 2005, and its robust functions and smooth person following capability were successfully demonstrated.
AB - We have developed the person following robot "ApriAttenda™" . This robot can accompany a person using vision based target detection and avoid obstacles with ultrasonic sensors while following the person. The robot first identifies an individual with its image processing system by detecting a person's region and recognizing the registered color and texture of his/her clothes. Usually, the person following robot has to detect and recognize the specified person and calculate his/her position in a complicated real-life environment of fixed objects and moving people. Our newly developed algorithm allows the robot to extract a particular individual from a cluttered background, and to find and reconnect with the person if it loses visual contact. Tracking people with stereo vision was realized by systematizing visual and motion control with a robust algorithm that utilizes various characteristics of the image data. The developed algorithm uses several analyses to extract information on the distance to each feature point, speed of target, color and texture of clothes for a stable tracking in many situations including changes of view due to self motion, shifts in lighting and objects similar to the target. The person following robot ApriAttenda™ has been exhibited at Aichi EXPO 2005, and its robust functions and smooth person following capability were successfully demonstrated.
KW - Collision avoidance
KW - Image processing
KW - Motion control
KW - Person following
UR - http://www.scopus.com/inward/record.url?scp=34250661914&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250661914&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282029
DO - 10.1109/IROS.2006.282029
M3 - Conference contribution
AN - SCOPUS:34250661914
SN - 142440259X
SN - 9781424402595
SP - 5286
EP - 5291
BT - IEEE International Conference on Intelligent Robots and Systems
ER -