@inproceedings{f0aed62302164a5aaf902baf0a86dae4,
title = "Robust Real-Time Object Tracking System for Human-Following Quadruped Robot",
abstract = "Quadruped robot needs a real-time robust object tracking algorithm and an accurate and stable servo controller for human following task. The object tracking algorithm in this paper used the Kalman filter to generate the pre-sampling area for Kernel Correlation Filter (KCF) according to the motion state, and the object detection is used to periodically evaluate and update the tracking box of KCF according to the scale change rate and the center offset error, so as to realize the scale adaptation and prevent missed detection. Based on the visual information provided by the target tracking algorithm, the kinematics of the target following task are modeled, and the kinematic controller satisfying the Lyapunov stability is designed based on backstepping. Through simulation experiments, the effectiveness and stability of the target tracking system proposed in this paper are verified.",
keywords = "Backstepping, Kalman filter, Kernel correlation filter, Lyapunov stability, Object tracking",
author = "Hailun Zhang and Xuemei Ren",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 18th Chinese Intelligent Systems Conference, CISC 2022 ; Conference date: 15-10-2022 Through 16-10-2022",
year = "2022",
doi = "10.1007/978-981-19-6203-5_37",
language = "English",
isbn = "9789811962028",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "388--397",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Shoujun Zhao",
booktitle = "Proceedings of 2022 Chinese Intelligent Systems Conference - Volume I",
address = "Germany",
}