A person following behaviour for a mobile robot
A person following behaviour for a mobile robot
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一个人跟踪移动机器人的行为
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
H. Christensen
中科院分区：
文献类型：
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作者：
H. Kjellström;D. Kragic;H. Christensen
提出了移动机器人的人跟随行为问题。使用肤色检测来定位人的头部。然后，一个控制回路输入摄像机的运动，将人的上半身放在图像的中心。该算法在一个研究实验室的不同房间里进行了测试。除阳光直射外，它在所有光照条件下都表现良好。由于背景和光照无法控制，因此视觉算法必须对这些变化具有鲁棒性。然而，由于计算能力是相当有限的，算法必须具有尽可能低的复杂度。
In this paper, a person following behaviour for a mobile robot is presented. The head of the person is located using skin colour detection. Then, a control loop is fed with the camera movements required to put the upper part of the person in the center of the image. The algorithm was tested in different rooms of a research lab. It performed well in all lighting conditions except in direct sunlight. Since the background and lighting cannot be controlled, the vision algorithm must be robust to such changes. However, since the computing power is quite limited, the algorithm must have as low complexity as possible.