Paper Info
Title
Human Tracking By A Mobile Robot Using 3d Features
Abstract
Detection and Tracking of human being is a very important problem in Computer Vision. Human robot interaction is a very essential need for service robots where robots are required to detect and track human beings in order to provide the required service. In this paper we present an improved novel approach for tracking a target person in crowded environment. We used multi-sensor data fusion approach by combining the data of stereo camera and laser rangefinder (LRF) to perform human tracking. The system gathers the features of human upper body, face and legs in the target person selection phase and then the robot will start following the target person. Camera is used for upper body and face detection while laser rangefinder is used for gathering legs data. Template matching and triangulation is done in order to get the dimensions of upper body and face. Target person tracking is done using Cam shift tracker. Thus our method presents a novel approach that uses all these techniques to track a target person in a crowded environment.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739841
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
Keywords
Field
DocType
Service robots, mobile robots, body detection, face detection, leg detection, Haar classifiers, Cam shift
Template matching,Object detection,Stereo camera,Computer vision,Object-class detection,Tracking system,Video tracking,Artificial intelligence,Face detection,Engineering,Mobile robot
Conference
Citations 
PageRank 
References 
2
0.43
7
Authors
11
Name
Order
Citations
PageRank
Badar Ali160.94
Ahmed Hussain Qureshi2548.83
Khawaja Fahad Iqbal371.65
Yasar Ayaz46311.39
Syed Omer Gilani55912.83
Mohsin Jamil65811.21
Naveed Muhammad720.43
Faizan Ahmed8111.72
Mannan Saeed Muhammad9134.08
Whoi-Yul Kim1051847.84
Moonsoo Ra11114.09