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This paper presents a person following robot equipped a RGB-D imaging sensor. We introduce three modules of a visual target tracking, target detection, and robot control. For the tracking module, distracters existing near-by the target are explicitly tracked to support target tracking. Preliminary tests showed that the robot robustly follows the target in uncontrolled environment with cluttered background...
This video demonstrates a person following robot that uses one RGB-D camera. A depth assisted color tracking method robustly tracks a fast moving target. The robot detects front obstacles from a depth image and avoids them. A person detector also works when the target is lost by occlusion and obstacle avoiding.
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