Person following and mobile camera localization using particle filters

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240738

B. Kwolek

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引用次数: 12

Abstract

This paper investigates visual head tracking and person following with a mobile robot. The position of the mobile robot is determined during person following on the basis of laser readings. The tracking of the head is done using a particle filter built on cues such as color, depth, gradient and shape. The appearance of the head is represented by an ellipse with color histogram in its interior and an intensity gradient along the ellipse boundary. The size of the ellipse is computed from a stereo pair. The localization of the moving camera is achieved using a particle filter framework. A particle filter responsible for localization utilizes laser data obtained from sensor and data obtained from a map representing the environment. Current laser readings are compared with scans coming from a global map in respect of histogram intersection. Experimental results, where a person moves facing the cameras, the robot follows the person and simultaneously determines its position, demonstrate the feasibility of the tracking as well as the localization method.

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使用粒子滤波的人跟踪和移动相机定位

研究了移动机器人视觉头部跟踪和人的跟踪问题。在人跟随过程中，根据激光读数确定移动机器人的位置。头部的跟踪是使用基于颜色、深度、梯度和形状等线索的粒子过滤器完成的。头部的外观由一个椭圆表示，椭圆内部有颜色直方图，沿椭圆边界有一个强度梯度。椭圆的大小是从一个立体对计算出来的。利用粒子滤波框架实现运动摄像机的定位。负责定位的粒子滤波器利用从传感器获得的激光数据和从代表环境的地图获得的数据。将当前的激光读数与来自直方图交叉点的全球地图的扫描结果进行比较。实验结果表明，当一个人面对摄像机移动时，机器人会跟随这个人并同时确定其位置，证明了跟踪和定位方法的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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