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

Mehrez Kristou, Akihisa Ohya, Shinichi 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
JournalJournal of Robotics and Mechatronics
Volume23
Issue number1
Publication statusPublished - 2011 Feb
Externally publishedYes

Fingerprint

Range finders
Fusion reactions
Cameras
Robots
Robot applications
Sensor data fusion
Lasers
Sensors
Mobile robots
Experiments

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

Cite this

Target person identification and following based on omnidirectional camera and LRF sensor fusion from a moving robot. / Kristou, Mehrez; Ohya, Akihisa; Yuta, Shinichi.

In: Journal of Robotics and Mechatronics, Vol. 23, No. 1, 02.2011.

Research output: Contribution to journalArticle

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