特定の人物を追従する自律移動ロボット
Autonomous Person-Specific Following Robot
顔認識と匿名人物追跡を融合し、指定した人物だけを追従できる人物追跡手法を提案した論文。
著者: Wesley P. Chan, Sina Radmard, Zhao Quan Hew, Jon Morris, Elizabeth Croft, H. F. Machiel Van der Loos
分類: cs.RO
原文アブストラクト
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In this paper, we proposed an identity-specific person tracker, capable of tracking and identifying nearby people, to enable person-specific following. Our proposed method uses a Sequential Nearest Neighbour with Thresholding Selection algorithm we devised to fuse together an anonymous person tracker and a face recogniser. Experiment results comparing our proposed method with alternative approaches showed that our method achieves better performance in tracking and identifying people, as well as improved robot performance in following a target individual.
