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Conference Paper
Real-Time Visual Target Tracking in RGB-D Data for Person-Following Robots
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- Authors
- Youngwoo Yoon, Woo-han Yun, Hosub Yoon, Jaehong Kim
- Issue Date
- 2014-08
- Citation
- International Conference on Pattern Recognition (ICPR) 2014, pp.2227-2232
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- Depth information, Mobile robots, RGB-D Data, Real environment, Real-time, Real-world, Target re-identification, Tracking method, Video sequences, person-following, state-of-The-Art