Open AccessPerson following control for a mobile robot based on color invariance corresponding to varying illumination
Author(s) -
Shinsuke Oh-hara,
Kaoru Saito,
A. Fujimori
Publication year - 2022
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v11i1.pp33-42
Subject(s) - computer vision , artificial intelligence , mobile robot , robot , computer science , sight , object (grammar) , tracking (education) , particle filter , psychology , filter (signal processing) , physics , astronomy , pedagogy
In this paper, we present a method of person following control for a mobile robot using visual information. Color information is often used for object tracking. Color information of objects varies greatly under illumination changing environment. In such conditions , the robot controlled by visu al information may lose sight of a person. In this paper, we consider a robust person following method by color invariance and image - based control. Color invariance show s robust features of colored objects in terms of changing illumination conditions . At f irst, we estimate the lowest positions of both feet of a tracked person through particle filters based on color invariances . Then, we control the velocity of the robot to track the person by using the image - based controller. Experimental results using a n a ctual robot demonstrate the effectiveness of the proposed method.