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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...
Robotic person-following is an essential component for natural human robot interaction. To follow a person, the robot should track the target person robustly and in real time. Object tracking algorithms in the computer vision field typically require abundant features and heavy computing power, and thus cannot be directly applied to person-following robots due to the problems arising in practical robotic...
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