상세정보
학술대회
Real-Time Visual Target Tracking in RGB-D Data for Person-Following Robots
- 발행일
- 201408
- 출처
- International Conference on Pattern Recognition (ICPR) 2014, pp.2227-2232
- 협약과제
- 13IC3100, 인식센서융합 기반 실환경하에서 임의의 사용자 30명에 대해 인식률 99%에 근접하는 사용자의 신원과 행위 및 위치 정보 인식 기술 개발, 윤호섭
- 초록
- This paper describes a novel RGB-D-based visual target tracking method for person-following robots. We enhance a single-object tracker, which combines RGB and depth information, by exploiting two different types of distracters. First set of distracters includes objects existing near-by the target, and the other set is for objects looking similar to the target. The proposed algorithm reduces tracking drifts and wrong target re-identification by exploiting the distracters. Experiments on real-world video sequences demonstrating a person-following problem show a significant improvement over the method without tracking distracters and state-of-the-art RGB-based trackers. A mobile robot following a person is tested in real environment.
- KSP 제안 키워드
- Depth information, Mobile robots, RGB-D data, Real environment, Real-Time, Real-world, Target re-identification, Tracking method, person-following, state-of-The-Art, video sequences