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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...
For a monocular camera-based mobile robot system, an adaptive visual regulation controller is proposed in this paper to asymptotically stabilize the robot to its desired position/orientation, in which range sensor is not required and unknown camera extrinsic parameters are considered as well. First, based on the relationship between the robot frame and the camera frame, kinematic model of the monocular...
This paper investigated the visual servoing regulation of nonholonomic mobile robots with monocular camera. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Two-step techniques were used to presented a robust controller that enables the mobile robot image pose and the orientation regulation despite the lack of depth information...
In a robot soccer game, robot's constant movements become a great challenge in the distance measurement. This paper proposes an improved method of distance measurement, which is based on the color region, for Sony four-legged robots. The proposed method improves much the conventional unvarying distance measurement model based on a single camera by taking into account the dynamics of the robot pose...
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