TY - GEN
T1 - Person-following for Telepresence Robots Using Web Cameras
AU - Cheng, Xianda
AU - Jia, Yunde
AU - Su, Jingyu
AU - Wu, Yuwei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Many existing mobile robotic telepresence systems have equipped with two web cameras, one is a forward-facing camera (FF camera) for video communication, and the other is a downward-facing camera (DF camera) for robot navigation. In this paper, we present a new framework of autonomous person-following for telepresence robots using the two web cameras. Based on correlation filters tracking methods, we use the FF camera to track the upper body of a person and the DF camera to localize and track the person's feet. We improve the robustness of feet trackers, consisting of a left foot tracker and a right foot tracker, by making full use of the spatial constraints of the human body parts. We conducted experiments on tracking in different environmental situations and real person-following scenario to evaluate the effectiveness of our method.
AB - Many existing mobile robotic telepresence systems have equipped with two web cameras, one is a forward-facing camera (FF camera) for video communication, and the other is a downward-facing camera (DF camera) for robot navigation. In this paper, we present a new framework of autonomous person-following for telepresence robots using the two web cameras. Based on correlation filters tracking methods, we use the FF camera to track the upper body of a person and the DF camera to localize and track the person's feet. We improve the robustness of feet trackers, consisting of a left foot tracker and a right foot tracker, by making full use of the spatial constraints of the human body parts. We conducted experiments on tracking in different environmental situations and real person-following scenario to evaluate the effectiveness of our method.
UR - https://www.scopus.com/pages/publications/85080958920
U2 - 10.1109/IROS40897.2019.8967645
DO - 10.1109/IROS40897.2019.8967645
M3 - Conference contribution
AN - SCOPUS:85080958920
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2096
EP - 2101
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -