2P1-J06 People Tracking and Target Following Method for an Outdoor Mobile Robot with LRF and Omni-Directional Camera(Vision System for Mobile Robot)
Jae Hoon Lee, Hiroki R. Ueda, Shingo Okamoto, Byung-Ju Yi, Shin’ichi Yuta · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This paper investigates a method to recognize people and follow target person for a mobile robot that moves in outdoor environment. Laser scanner and omni-directional camera were used as sensors to detect multiple people. For efficient tracking, a new association algorithm based on Mahalanobis distance, which utilizes information from both sensors, was proposed. Experimental results using the developed mobile robot system were presented.