用于网真应用的多模式人跟踪系统

Proceedings of the ACM Symposium on Virtual Reality Software and Technology. ACM Symposium on Virtual Reality Software and Technology Pub Date : 2013-10-06 DOI:10.1145/2503713.2503722

W. Pang, G. Seet, X. Yao

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引用次数: 11

摘要

本文介绍了一种用于移动远程呈现机器人的多模态人跟随系统的设计与实现。针对Kinect传感器的人体识别功能，提出了一种颜色直方图匹配和位置匹配算法。机器人的运动是根据人与机器人的相对位置调整速度来控制的。该机器人能够在各种人跟随模式下跟随目标人，例如后跟随模式，并排陪伴模式以及前引导模式。利用虚势场算法实现了避障功能。

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A multimodal person-following system for telepresence applications

This paper presents the design and implementation of a multimodal person-following system for a mobile telepresence robot. A color histogram matching and position matching algorithm was developed for a person-recognition function using Kinect sensors. Robot motion was controlled by adjusting its velocity according to the humans position in relation to the robot. The robot was able to follow the targeted person in various person-following modes, such as the back-following mode, the side-by-side accompaniment mode as well as the front-guiding mode. An obstacle avoidance function was also implemented using the virtual potential field algorithm.

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Proceedings of the ACM Symposium on Virtual Reality Software and Technology. ACM Symposium on Virtual Reality Software and Technology

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