The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A hexapod crawling robot with heat source detection and tracking is designed in this work. The infrared detection module is composed by Fresnel lens and pyroelectric infrared sensor. It will track automatically when it detects a human body within the certain range. A central control system is designed using single chip microcomputer ATMEGA16L as CPU and 18-channel PWM are produced for controlling...
For many tasks in populated environments, robots need to keep track of current and future motion states of people. Most approaches to people tracking make weak assumptions on human motion such as constant velocity or acceleration. But even over a short period, human behavior is more complex and influenced by factors such as the intended goal, other people, objects in the environment, and social rules...
It is a great challenge to perform robust tracking for a mobile robot owing to dynamic environments. Also, fast motion or abrupt jerk of the robotic camera poses a severe threat for continuous tracking. To address these problems, a novel attention model is proposed motivated by human attention mechanism which consists of low level salient feature and high level scene semantics. The low level layer...
Modeling of optimized motion controller is one of the interesting problems in the context of behavior based mobile robotics. Behavior based mobile robots should have an ideal controller to generate perfect action. In this paper, a nonlinear identification Takagi-Sugeno fuzzy motion controller has been designed to track the positions of a moving object with the mobile platform. The parameters of the...
The advantage of the optical-flow-based visual servo methods is that features of the moving object do not need to be known in advance. Therefore, they can fit for demands of versatile positioning and tracking tasks in the real world. Nevertheless, it is difficult to achieve satisfactory tracking performance for fast moving objects using these standard approaches. The purpose of this paper is to implement...
Human-robot interaction (HRI) has become a very important field on mobile robotics community. Service robots must have efficient modules for HRI, in order to deal with humans in a robust way. For a service robot, it is very important to interpret when a person needs or requires assistance. In this paper a system for the detection and analysis of corporal gestures (particularly walking gestures) is...
This paper treats a trajectory tracking control of a mobile robot by a single CCD camera and range sensors. First, the mobile robot detects the obstacle based on information of both the image and the distance. And then, from the obstacle information, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated through experiment.
In this paper, a system capable of obtaining the 3-D pose of a mobile robot using a ring of calibrated cameras attached to the environment is proposed. The system robustly tracks point fiducials in the image plane of the set of cameras generated by the robot's rigid shape in motion. Each fiducial is identified with a point belonging to a sparse 3-D geometrical model of the robot's structure. Such...
In ALV system, obstacle detection algorithm is one of the most important research fields and obstacle segmentation is a key factor in obstacle detection approaches. In this paper, a simple and fast segmentation approach is proposed for ALV system based on binocular stereo vision. Firstly, a simple method is applied to binarize the images by the defined binarization function; Secondly, in order to...
Self-localization and tracking a moving object is a key technology for service robot interactive applications. Most tracking algorithms focus on how to correctly estimate the acceleration, velocity, and position of the moving objects based on the prior states and sensor information. What has not been studied so far is tracking the partially observable moving object which is often hidden from a robot's...
Security is an important space, the necessity of intelligent surveillance systems are becoming incredibly important. Most of the security system is an object tracking system based on images which has many weaknesses. This paper proposes the system which complement the vulnerability. Purpose of this paper is loading network camera and tracking module of sound source in mobile robot based on embedded...
We present a real-time person tracking system for a mobile robot using the information from a PTZ video camera and a laser range finder. For robust tracking, the target person model is constructed. The model includes the color, edge and size information of the tracked person. People moving in the field of view are detected by the robot via the laser range finder and verified against the target person...
A major issue in the field of mobile robotics today is the detection and tracking of moving objects (DATMO) from a moving observer. In dynamic and highly populated environments, this problem presents a complex and computationally demanding task. It can be divided in sub-problems such as robot's relative motion compensation, feature extraction, measurement clustering, data association and targets'...
This paper deals with the assessment of centralized fusion for two dissimilar sensors for the purpose of tracking road obstacles. The aim of sensor fusion is to produce an improved estimated state of a system from a set of independent data sources. Indeed, for a robust perception of the environment, seen here as obstacles, several sensors should be installed in the equipped vehicle: camera, lidar,...
This paper presents a new algorithm for human motion three-dimensional tracking based on a stereo camera system embedded on a mobile robot. The approach mixes advantages of the well-known ICONDENSATION and annealed particle filters into a more reliable "I-Annealed" particle filter based tracker. Data fusion is also studied to show that a wide variety of visual cues must be used so that the...
In this paper we present a multi-sensor fusion system for tracking people with a mobile robot, which integrates the information provided by a laser range sensor and a PTZ camera. We introduce the algorithms used for detecting legs from laser scans and faces from video images, then we illustrate a human motion model for the estimation of people position, orientation and height. The ego-motion of the...
Camera-based systems are frequently used to track moving objects which are in the field of their view. This paper describes design and development of a camera-based tracking robot that can constantly track moving object without necessity of calibrating camera in real world units then control the two-wheeled moving platform to follow the object. The camera serves as a feedback sensor to guide robot...
Considering eye-in-hand visual servoing, a new vision open-loop system scheme is proposed, this method evades the hardness of constructing image Jacobian, and needn't update or invert Jacobian at all time, the delay produced by low sampling rates and burden of computing is weakened, system performance is very improved. In order to verify the scheme, simulation of a 2 DOF manipulator eye-in-hand visual...
This paper is to introduce detecting and tracking moving object using an active camera, which is mounted on mobile robot. Motion of camera is analyzed and compensated by comparing edge features among consecutive image frames. Candidate regions of moving object are found by differencing between transformed ith image and t-1th image. Moving object is finally decided by combined feature set and motion...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.