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This paper addresses the problem of mobile robot navigation in unknown corridors using RGB-Depth cameras. Instead of building a full and global 3D map of the environment, the approach exploits line and dense features extracted from RGB-D sensors. Wall-floor boundary lines are extracted from pre-processed point clouds, which ensure reliable line segmentation results compared with monocular based methods...
Service robot is one of the most promising industries in the future. Modular framework for designing and implementing a distributed service robot system including robot and intelligent environment is proposed. Components as sensors and actuators of a robotic system are standardized in both hardware and software design, resulting in an abstraction of digital smart devices with certain functions. A...
The ability to detect and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel method for tracking and following a specific person with a mobile robot by combining vision and laser range information is proposed. The vision module which integrates the color matching method using the Horizontal-Projecting Probability Histogram (HPPH) of upper body color...
A probabilistic approach is proposed for Simultaneous robot Localization and Person-Tracking using Rao-Blackwellised particle filters (RBPF). Such filters represent posteriors over the person location by a mixture of Kalman Filters, where each is conditioned on a sample of robot pose. Furthermore, information collected via multi-modal sensors is utilized in the RBPFs framework to improve the performance...
People tracking and localization in situations with coexisting service robots is a challenging task due to the non-rigid nature of human body, complex background and frequent occlusions among people and robots. A multi-view approach is proposed to people-tracking and localization whilst the robotpsilas capability of perceiving environment is utilized. Initiated by person detection, tracking within...
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