Human tracking and following using sensor fusion approach for mobile assistive companion robot
Journal
The 35th Annual Conference of the IEEE Industrial Electronics Society (IECON 2009)
Pages
2235-2240
Date Issued
2009
Author(s)
Abstract
The ability to track and follow target person in intelligent service mobile robot is indispensable. A robust method for tracking and following a target person with a small size mobile robot by integrating single vision sensor and laser range finder is proposed. Instead of stereo-vision, we acquire the distance between mobile robot and target person by single camera. The laser range finder and vision sensor have their respective drawbacks. To compensate the drawbacks of each sensor we present the complementary data fusion approach - Covariance Intersection, it will complement the uncertainty of each sensor measure and enhance the reliability of human's position information. The Virtual Spring Model is the control rule of mobile robot that can smoothly tracking target person. Experimental results validate the robust performance of the method. ©2009 IEEE.
Subjects
Intelligent robot; Robot tracking; Sensor fusion; Virtual spring model
Other Subjects
Assistive; Companion robot; Complementary data; Control rules; Covariance intersection; Human Tracking; Intelligent Services; Laser range finders; Position information; Robot tracking; Robust methods; Robust performance; Sensor fusion; Single cameras; Single vision; Small size; Virtual spring; Virtual spring model; Vision sensors; Industrial electronics; Intelligent robots; Mobile robots; Range finders; Range finding; Sensor data fusion; Sensors; Stereo vision; Targets; Target tracking
Type
conference paper