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JRM Vol.23 No.1 pp. 163-172
doi: 10.20965/jrm.2011.p0163
(2011)

Paper:

Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot

Mehrez Kristou, Akihisa Ohya, and Shin’ichi Yuta

Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
July 21, 2010
Accepted:
October 17, 2010
Published:
February 20, 2011
Keywords:
people detection, human tracking, human following, target person identification
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.

Cite this article as:
M. Kristou, A. Ohya, and S. Yuta, “Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot,” J. Robot. Mechatron., Vol.23, No.1, pp. 163-172, 2011.
Data files:
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