Knowledge Commons of Institute of Automation,CAS
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 | |
会议名称 | 2017 IEEE International Conference on Mechatronics and Automation (ICMA) |
会议日期 | 2017-8 |
会议地点 | Takamatsu, Japan |
出版者 | IEEE |
摘要 | 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. |
关键词 | Human-following visual tracking binocular camera kernelized correlation filter depth analysis |
学科门类 | 工学 |
DOI | 10.1109/ICMA.2017.8016036 |
收录类别 | EI |
语种 | 英语 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40399 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cao, Zhiqiang |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
[ICMA.2017] A human-(1119KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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