Development of a Person Following Robot with Vision Based Target Detection

Yoshimi, Takashi; Nishiyama, Masayoshi; Sonoura, Takafumi; Nakamoto, Hideichi; Tokura, Seiji; Sato, Hírokazu; Ozaki, Fumio; Matsuhira, Nobuto; Mizoguchi, Hiroshi

doi:10.1109/iros.2006.282029

Cited by 85 publications

(44 citation statements)

References 7 publications

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“…The image coordinates are [ 1] , denoting the position of the master robot in the image coordinate axis system. The position of the master in Kinect's frame of reference is [ 1] . The conversion is given by Equation (2).…”

Section: Visionmentioning

confidence: 99%

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Vision-Based Robot Following Using PID Control

Pati

Kala

2017

Technologies

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Abstract:Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional-Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user's command from an android application which is processed by the master robot's controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

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Section: Visionmentioning

confidence: 99%

“…The position of the master in Kinect's frame of reference is [ 1] . The conversion is given by Equation (2).…”

Section: Visionmentioning

confidence: 99%

Vision-Based Robot Following Using PID Control

Pati

Kala

2017

Technologies

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“…When an obstacle on the robot's trajectory is found by the ultrasonic sensor, the robot starts to avoid the obstacle, and tries to continue following the person by the vision sensor, so the robot keeps its visual axis to the target person using the degrees of freedom of its head unit and changes the direction of the body and goes around to avoid the obstacle. The avoidance control system is constructed by means of obstacle map written by occupancy grid map and the velocity potential method (Yoshimi et al, 2006). The Avoidance Trajectory Generation Unit in Fig.5 converts the reference information of the robot motion to avoid the obstacle when it exists near the robot.…”

Section: B Obstacle Avoidance Controlmentioning

confidence: 99%

“…Moreover, another important capability common to the human symbiotic robot is that of moving safely near humans. In light of the above considerations, we have developed ApriAttenda TM shown in Fig.1, a person following robot that finds a specified person using visual tracking functions and follows him/her while avoiding obstacles (Yoshimi et al, 2006). Person following robots developed until now use various types of cameras for detecting a target person, and some of them use other sensors (Schlegl et al, 1998;Sidenbladh et al, 1999;Kwon et al, 2005;Cielniak et al, 2005;Kobilarov et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

Person Following Robot with Vision-based and Sensor Fusion Tracking Algorithm

Sonoura¹,

Yoshimi

Nishiyama³

et al. 2008

Computer Vision

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“…The first one is to use the 2D scanning like RGB cameras or stereo cameras that have 2 lenses to simulate human binocular Vision [3].…”

Section: Introductionmentioning

confidence: 99%

Kinect-Based Moving Human Tracking System with Obstacle Avoidance

Ahmad¹,

Bazzal²,

Youssef³

2017

Adv. sci. technol. eng. syst. j.

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This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET). This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

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Development of a Person Following Robot with Vision Based Target Detection

Cited by 85 publications

References 7 publications

Vision-Based Robot Following Using PID Control

Vision-Based Robot Following Using PID Control

Person Following Robot with Vision-based and Sensor Fusion Tracking Algorithm

Kinect-Based Moving Human Tracking System with Obstacle Avoidance

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