Person following behaviour for a mobile robot
1999 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 1999, 670-675 p.Conference paper (Refereed)
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 lightings 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.
Place, publisher, year, edition, pages
1999. 670-675 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 1
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-38190OAI: oai:DiVA.org:kth-38190DiVA: diva2:436224
The 1999 IEEE International Conference on Robotics and Automation, ICRA99; Detroit, MI, USA; 10 May 1999 through 15 May 1999