1A1-D22 複雑な視野環境における移動ロボットの対人追従 : 視差画像と色分布マッチングを用いた人物検出

概要

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This paper presents a person following mobile robot which follows a target subject while tracking one's back. The developed robot carries out autonomous movement in a real environment based on the information obtained from a carried stereo camera, a laser ranger sensor, ultrasonic sensors and touch sensors. An image processing method which detects the subject in a complicated background using information on distance and color is proposed. For image processing, a specific person is discovered by the disparity image and color distribution matching by stereo camera. The robot's movement is controlled by the results of the image processing and the information obtained from the various sensors. The proposed image processor is applying to a robot, and the results showed the robot to follow the target subject in a real environment.
一般社団法人日本機械学会の論文