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In this paper, we presents a method of human detecting and tracking. To improve the robustness and real-time performance of detecting and tracking, we propose an autonomous robot detecting and tracking approach based on stereo vision and EKF. In view of diverse human motion posture, Hu moment of the head and shoulder contour is adopted to recognize human body. In addition, EKF is used to correct and...
This paper employs the methods of human detecting and tracking based on stereo vision in the indoor environment. A novel method of template matching based on head-shoulder model is proposed to detect human. The presented method is achieved by attaining the disparity images from the stereo cameras, and extracting the head-shoulder model of human. Robust human tracking is performed using the EKF. The...
This paper presents a method of map building using interactive GUI for an indoor service mobile robot. The reason we proposed this method is that it is difficult for a mobile robot to generate an accurate map although many kinds of sensors are used. In proposed system, the operator can modify map built by LRF and odometry, compared with the real-time video from web camera using modification tool in...
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