Title | ||
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A Real-Time Motion Detection and Object Tracking Framework for Future Robot-Rat Interaction |
Abstract | ||
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In this paper, we propose an automatic robot-rat interaction framework that enables a robotic rat to realize real-time localization, tracking and movement analysis of a laboratory rat. Specifically, we combine an object detector with stereo matching to achieve fast localization of the laboratory rat. Combined with the rat-like motion of the robot, one-step tracking of the rat is achieved, which enables the robot to eliminate last location error in one cycle of visual servo control. When positioning the rat, a unified quantitative description and analysis of rat motion is implemented by using a state vector composed of the centroids of head, body and tail. Preliminary robot-rat interaction tests show that the robot achieved a steady tracking of a fast-moving rat for a duration of 10 minutes. To the best of our knowledge, it is the first time that a rat-sized robot achieves a continuous tracking of actual rats by a built-in miniature stereo vision system. Experimental results show that the sequence of state vectors accurately represents the pitch movement of the rat. Thus, this work is a step toward more natural interaction between robots and animals. |
Year | DOI | Venue |
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2021 | 10.1109/IROS51168.2021.9636403 | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
DocType | ISSN | Citations |
Conference | 2153-0858 | 0 |
PageRank | References | Authors |
0.34 | 0 | 7 |
Name | Order | Citations | PageRank |
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Chen Chen | 1 | 11 | 1.91 |
Guanglu Jia | 2 | 1 | 2.38 |
Zihang Gao | 3 | 9 | 2.99 |
Xiaowen Guo | 4 | 0 | 0.34 |
Qiang Huang | 5 | 266 | 91.95 |
Toshio Fukuda | 6 | 2723 | 818.58 |
Qing Shi | 7 | 9 | 7.73 |