Real-time vision system for autonomous mobile robot
Real-time vision system for autonomous mobile robot
复制标题
自主移动机器人实时视觉系统
DOI：
10.1109/roman.2001.981944
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
S. Hashimoto
中科院分区：
文献类型：
--
作者：
M. Doi;M. Nakakita;Y. Aoki;S. Hashimoto
为了实现用于人类生活环境中的自主移动的机器人的视觉系统，需要观察人类的行为并对这些行为做出反应。针对自主式移动的机器人，提出了一种基于视觉系统的实时人体跟踪方法。首先，该系统检测身体部位作为场景中的移动区域，并使用颜色在检测到的区域中提取人脸区域或特定于人的区域。接下来，识别面部姿势和头部姿势。我们在一个移动的机器人上实现了该视觉系统，实验表明该系统可以实时检测和跟踪人和他的脸。
In order to realize a vision system for an autonomous mobile robot used in a human living environment, it is necessary to observe human behaviors and to react to those actions. In this paper, we propose a real-time human tracking method based on vision system for an autonomous mobile robot. First, the system detects body parts as moving areas in the scene, and a face region or region specific to human is extracted in the detected area using color. Next, the facial gesture and head gesture are recognized. We implement the vision system on a mobile robot, and experimentally show the system can detect and track a human and his face in real-time.