Knowledge Commons of Institute of Automation,CAS
A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots | |
Pang, Lei1,2; Cao, Zhiqiang1,2; Yu, Junzhi1,3; Guan, Peiyu1,2; Rong, Xuewen4; Chai, Hui4 | |
发表期刊 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS |
ISSN | 2168-2216 |
2021-04-01 | |
卷号 | 51期号:4页码:2342-2354 |
摘要 | The quadruped robot imitates the motions of four-legged animals with a superior flexibility and adaptability to complex terrains, compared with the wheeled and tracked robots. Its leader-following ability is unique to help a human to accomplish complex tasks in a more convenient way. However, long-term following is severely obstructed due to the high-frequency vibration of the quadruped robot and the unevenness of terrains. To solve this problem, a visual approach under a novel T-D-R framework is proposed. The proposed T-D-R framework is composed of a visual tracker based on correlation filter, a person detector with deep learning, and a person re-identification (re-ID) module. The result of the tracker is verified by the detector to improve tracking performance. Especially, the re-ID module is introduced to handle distractions and occlusion caused by other persons, where the convolutional correlation filter (CCF) is employed to discriminate the leader among multiple persons through recording the appearance information in the long run. By comparing the results of the tracker and the detector as well as their similarity scores with the leader identified by the re-ID module, a stable and real-time tracking of the leader can be guaranteed. Experiments reveal that our approach is effective in handling distractions, appearance changes, and illumination variations. A long-distance experiment on a quadruped robot indicates the validity of the proposed approach. |
关键词 | Visualization Target tracking Mobile robots Correlation Robot kinematics Cameras Detector leader following long-term tracking person re-identification (re-ID) quadruped robot |
DOI | 10.1109/TSMC.2019.2912715 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | 863 Program[2015AA042201] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS21] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633020] ; Key Research and Development Program of Shandong Province[2017CXGC0925] ; Open Foundation of the State Key Laboratory of Management and Control for Complex Systems, CASIA[20170111] |
项目资助者 | 863 Program ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; National Natural Science Foundation of China ; Key Research and Development Program of Shandong Province ; Open Foundation of the State Key Laboratory of Management and Control for Complex Systems, CASIA |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000631202400027 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44152 |
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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Dept Mech & Engn Sci, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 4.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China |
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,Cao, Zhiqiang,Yu, Junzhi,et al. A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(4):2342-2354. |
APA | Pang, Lei,Cao, Zhiqiang,Yu, Junzhi,Guan, Peiyu,Rong, Xuewen,&Chai, Hui.(2021).A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(4),2342-2354. |
MLA | Pang, Lei,et al."A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.4(2021):2342-2354. |
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