TY - GEN
T1 - Target person identification and following based on omnidirectional camera and LRF data fusion
AU - Kristou, Mehrez
AU - Ohya, Akihisa
AU - Yuta, Shin'Ichi
PY - 2011/9/26
Y1 - 2011/9/26
N2 - In this paper, we present the current progress of our approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and Omni directional camera. Our approach is based on multi-sensor fusion in which a person is identified using the panoramic image and tracked using the LRF. The selection of the target person 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.
AB - In this paper, we present the current progress of our approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and Omni directional camera. Our approach is based on multi-sensor fusion in which a person is identified using the panoramic image and tracked using the LRF. The selection of the target person 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.
UR - http://www.scopus.com/inward/record.url?scp=80053004862&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053004862&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2011.6005248
DO - 10.1109/ROMAN.2011.6005248
M3 - Conference contribution
AN - SCOPUS:80053004862
SN - 9781457715716
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 419
EP - 424
BT - 2011 RO-MAN - 20th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
T2 - 20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011
Y2 - 31 July 2011 through 3 August 2011
ER -