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

Mehrez Kristou | Zendy; Akihisa Ohya | Zendy; Shin’ichi Yuta | Zendy

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

Author(s) -

Mehrez Kristou,

Akihisa Ohya,

Shin’ichi Yuta

Publication year - 2011

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2011.p0163

Subject(s) - computer vision , artificial intelligence , computer science , robot , omnidirectional camera , omnidirectional antenna , identification (biology) , mobile robot , focus (optics) , sensor fusion , telecommunications , botany , physics , antenna (radio) , optics , biology

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.

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