Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Person-following of a Mobile Robot using a Complementary Tracker with a Camera-laser Scanner

카메라-레이저스캐너 상호보완 추적기를 이용한 이동 로봇의 사람 추종

  • Kim, Hyoung-Rae (Department of Robotics, Inha University) ;
  • Cui, Xue-Nan (Department of Information & Communication Engineering, Inha University) ;
  • Lee, Jae-Hong (Department of Information & Communication Engineering, Inha University) ;
  • Lee, Seung-Jun (Department of Information & Communication Engineering, Inha University) ;
  • Kim, Hakil (Department of Information & Communication Engineering, Inha University)
  • 김형래 (인하대학교 로봇공학전공) ;
  • 최학남 (인하대학교 정보통신공학과) ;
  • 이재홍 (인하대학교 정보통신공학과) ;
  • 이승준 (인하대학교 정보통신공학과) ;
  • 김학일 (인하대학교 정보통신공학과)
  • Received : 2013.08.12
  • Accepted : 2013.10.25
  • Published : 2014.01.01
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Abstract

This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.

Keywords

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