CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A human-following approach using binocular camera
Pang, Lei1,2; Zhang, Leijie1,2; Yu, Yingying1,2; Yu, Junzhi1; Cao, Zhiqiang1,2; Zhou, Chao1,2
2017
Conference Name2017 IEEE International Conference on Mechatronics and Automation (ICMA)
Conference Date2017-8
Conference PlaceTakamatsu, Japan
PublisherIEEE
Abstract

This paper presents a tracker using binocular camera capable of tracking a specific human in both indoor and outdoor environments. Based on the kernelized correlation filter (KCF), the proposed tracker detects the target in multiple scales with the integration of HoG, color naming (CN), and local depth patterns (LDP) features, which improve the tracking performance. Specifically, a precise positioning method termed depth analysis is introduced to effectively overcome the problem of template drift. In addition, a motion controller is implemented to guide the motion of the mobile robot. The effectiveness of the proposed tracker is verified through video experiments and the robotic experiment.

KeywordHuman-following visual tracking binocular camera kernelized correlation filter depth analysis
MOST Discipline Catalogue工学
DOI10.1109/ICMA.2017.8016036
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/40399
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorCao, Zhiqiang
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Pang, Lei,Zhang, Leijie,Yu, Yingying,et al. A human-following approach using binocular camera[C]:IEEE,2017.
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