@inproceedings{f912921f665f482aa37b8a0478d06953,
title = "Real-Time Pedestrian Tracking System Based on Depth Camera for Quadruped Robot",
abstract = "Quadruped robots have a wide range of applications now because of their strong adaptability to unstructured terrain. In the field of service robots, quadruped robots can track pedestrian users to provide more personalized services. This paper proposes a real-time depth camera-based pedestrian detection and tracking system for a quadruped robot. Firstly, YOLOv5 method is used for target detection, and then the DeepSORT method is used to collect real-time pedestrian features to complete pedestrian tracking. In order to reduce the adverse effects of target occlusion and fast movement on real-time tracking, this paper improves the performance of pedestrian feature extraction network by adding the CBAM attention module and verifies its superiority on the Market-1501 dataset. Compared with the original network, the Rank-1 accuracy increases by 6.3%, and the mean Average Precision (mAP) increases by 11.9%. Finally, a controller is designed based on kinematic method, and its stability is guaranteed by Lyapunov method.",
keywords = "Depth camera, Feature extraction, Lyapunov stability, Pedestrian tracking, Quadruped robot",
author = "Yunxin Zhang and Xuemei Ren and Dongdong Zheng",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",
year = "2023",
doi = "10.1007/978-981-99-6886-2_40",
language = "English",
isbn = "9789819968855",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "461--471",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Jiqiang Wang",
booktitle = "Proceedings of 2023 Chinese Intelligent Systems Conference - Volume III",
address = "Germany",
}