Intelligent optimal control of thermal vision-based Person-Following Robot Platform

Ćirić, Ivan; Cojbasic, M Zarko; Nikolić, Dušan; Igic, S Tomislav; Tursnek, A J Branko

doi:10.2298/tsci1403957c

Cited by 6 publications

(3 citation statements)

References 16 publications

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“…Important drawbacks include phantom detections, hard differentiation between humans, varying thermal characteristics of the airflow and the dependency of multiple-person tracking on their mutual position [51]. Human detection in thermal images can be performed by simple thresholding [21], whether by using a single threshold value or defining the optimal value using a genetic algorithm as in [101]. Treptow et al [51] improved thermal-vision-based human detection by proposing an elliptical contour model (one ellipse for body position and one for head position).…”

Section: Fig 1 a Block Diagram Representing Basic Difference Between Vision-only-based System (Double-thin-lined Shape) And Multimodal Symentioning

confidence: 99%

Machine-Vision-Based Human-Oriented Mobile Robots: A Review

Finžgar

Podržaj

2017

SV-JME

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In this paper we present a study of vision-based, human-recognition solutions in human-oriented, mobile-robot applications. Human recognition is composed of detection, tracking and identification. Here, we provide an analysis of each step. The applied vision systems can be conventional 2D, stereo or omnidirectional. The camera sensor can be designed to detect light in the visible or infrared parts of the electromagnetic spectrum. Regardless of the method or the type of sensor chosen, the best results in human recognition can be obtained by using a multimodal solution. In this case, the vision system is enhanced with other forms of sensory information. The most common sensors are laser range finders, microphones and sonars. As medicine is expected to be one of the main fields of application for mobile robots, we give it special emphasis. An overview of current applications and proposal of potential future applications are given. Without doubt, properly controlled mobile robots will play an ever-increasing role in the future of medicine.

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Section: Fig 1 a Block Diagram Representing Basic Difference Between Vision-only-based System (Double-thin-lined Shape) And Multimodal Symentioning

confidence: 99%

Machine-Vision-Based Human-Oriented Mobile Robots: A Review

Finžgar

Podržaj

2017

SV-JME

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“…Thermal images are useful for various purposes, including for detecting the presence of humans by measuring body surface temperatures [ 1 , 2 ] and performing noninvasive measurement in agriculture [ 2 , 3 , 4 ]. Because the wavelength of long-wavelength infrared (LWIR) light captured by thermal cameras is approximately 10 times longer than that of visible light captured by conventional color cameras, thermal imagers generally have a smaller number of pixels than color imagers.…”

Section: Introductionmentioning

confidence: 99%

Coaxiality Evaluation of Coaxial Imaging System with Concentric Silicon–Glass Hybrid Lens for Thermal and Color Imaging

Takahata

2020

Sensors

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Thermal imaging is useful for tasks such as detecting the presence of humans and recognizing surrounding objects in the operation of several types of robots, including service robots and personal mobility robots, which assist humans. Because the number of pixels on a thermal imager is generally smaller than that on a color imager, thermal images are more useful when combined with color images, assuming that the correspondence between points in the images captured by the two sensors is known. In the literature, several types of coaxial imaging systems have been reported that can capture thermal and color images, simultaneously, from the same point of view with the same optical axis. Among them, a coaxial imaging system using a concentric silicon–glass hybrid lens was devised. Long-wavelength infrared and visible light was focused using the hybrid lens. The focused light was subsequently split using a silicon plate. Separate thermal and color images were then captured using thermal and color imagers, respectively. However, a coaxiality evaluation of the hybrid lens has not been shown. This report proposes an implementation and coaxiality evaluation for a compact coaxial imaging system incorporating the hybrid lens. The coaxiality of the system was experimentally demonstrated by estimating the intrinsic and extrinsic parameters of the thermal and color imagers and performing 2D mapping between the thermal images and color images.

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“…Thermal image is useful to detect human by measuring his/her surface temperature [1,2]. Since the wavelength of FIR light used for thermal cameras are 10 times longer than that of visible light for color cameras, the pixel size of thermal imagers are larger than color imagers.…”

Section: Introductionmentioning

confidence: 99%

Compact coaxial thermal and color imaging system with silicon-glass hybrid lens

Takahata

Matsumoto

Shimoyama

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Detecting human is one of the most important functions of service robots assisting human lives. Thermal images are useful to detect human. Since the number of pixels of the thermal imagers is smaller than that of color imagers, thermal images get more useful combined with corresponding color images. In this paper, we propose a compact optical system to obtain both thermal and color images simultaneously. The key is to use a silicon-glass hybrid lens, with which visible and far-infrared light can be focused. The focused light was split by a silicon plate. The thermal and color images were taken by a thermal and color imager, respectively. We experimentally showed that the focal plane was tuned by the position of the lens keeping the correspondence of thermal and color images.

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Intelligent optimal control of thermal vision-based Person-Following Robot Platform

Cited by 6 publications

References 16 publications

Machine-Vision-Based Human-Oriented Mobile Robots: A Review

Machine-Vision-Based Human-Oriented Mobile Robots: A Review

Coaxiality Evaluation of Coaxial Imaging System with Concentric Silicon–Glass Hybrid Lens for Thermal and Color Imaging

Compact coaxial thermal and color imaging system with silicon-glass hybrid lens

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