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 - 2006/12/1
Y1 - 2006/12/1
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
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5286
EP - 5291
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -