Development of Vision Based Person Following Module for Mobile Robots In/Out Door Environment

摘要：

This paper proposes that a vision based robust person following method under varying illumination. The person following method is using a color stereo camera and a laser range sensor. The person detected method is based on disparity images and HSV color spaces from a color stereo camera and distance information from the laser range sensor. The developed person following method applies for an inverted pendulum type robot (Segway RMP) and a humanoid type service robot (enon). The validity of the proposed methods is confirmed though the person following experiments in in/out door environment.

作者: Hiroshi Takemura Nemoto Zentaro Hiroshi Mizoguchi

作者单位: Department of Mechanical Engineering,Faculty of Science and Technology,Tokyo University of Science,2641 Yamazaki,Noda,Chiba 278-8510,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1675-1680

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）