ppt on AUDIOVISUAL PERSON TRACKING WITH MOBILE ROBOTS .pdf | free download

Paper's on AUDIOVISUAL PERSON TRACKING WITH MOBILE ROBOTS .pdf

ABSTRACT:

Mobile service robots are recently gaining
increased attention from industry as they
are envisaged as a future market. Such
robots need natural interaction capabilities
to allow unexperienced users to make use
of these robots in home and office
environment. Inorder to enable the
interaction between humans and a robot,
the detection and tracking of persons in the
vicinity of the robot is necessary. In this
paper we present a person tracking system
for a mobile robot which enables the robot
to track several people simultaneously. Our
approach is based on variety of inputs cues
that are fused using a multi-modal
anchoring framework. The sensors
providing input data are two microphones
for sound source localization, a pan-tilt
camera for face and torso recognition, and
a laser range finder for leg detection.
Through processing camera images to
extract the torso position, our robot can
follow a person guiding the robot that is
not oriented towards the robot and that is
not speaking. In this case the torso
information is especially important for
robust tracking during temporary failure of
the leg detection.

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