Target person identification and following based on omnidirectional camera and LRF sensor fusion from a moving robot

Mehrez Kristou, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

In this paper, we introduce an approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and omnidirectional camera. Our approach is based on multisensor fusion in which a person is identified using the panoramic image and tracked using the Laser Range Finder (LRF). A target person selection is implemented to improve the identification when multiple candidates are detected. Our approach is successfully implemented on a mobile robot. A simplified target person following behavior is implemented to focus on the proposed method's efficiency. Several experiments are conducted and showed the effectiveness of our approach to identify and follow human in indoor environments.

Original languageEnglish
Pages (from-to)X163-172
JournalJournal of Robotics and Mechatronics
Volume23
Issue number1
DOIs
Publication statusPublished - 2011 Feb

Keywords

  • Human following
  • Human tracking
  • People detection
  • Target person identification

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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