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2020 | OriginalPaper | Chapter

Person-Following Algorithm Based on Laser Range Finder and Monocular Camera Data Fusion for a Wheeled Autonomous Mobile Robot

Authors : Elvira Chebotareva, Ramil Safin, Kuo-Hsien Hsia, Alexander Carballo, Evgeni Magid

Published in: Interactive Collaborative Robotics

Publisher: Springer International Publishing

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Abstract

Reliable human following is one of the key capabilities of service and personal assisting robots. This paper presents a novel person tracking and following approach for autonomous mobile robots that are equipped with a 2D laser rangefinder (LRF) and a monocular camera. The proposed method does not impose restrictions on a person’s clothes, does not require a head or an upper body to be within a camera field of view and is suitable for low height indoor robots as well. The algorithm is based on a metric that takes into an account parameters obtained directly from LRF and monocular camera data. The algorithm was implemented and tested in the Gazebo simulator. Next, it was integrated into a control system of the TIAGo Base mobile robot and successfully validated in university environment experiments with real people. In addition, this paper proposes a new criterion of algorithm performance estimation, which is a function of false positives number and traveled distances by a person and by a robot. Further this criterion is used to compare performance of the proposed method with the Multiple Instance Learning (MIL) tracker in simulated and in real world environments.

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previous chapter Approach to Obstacle Localization for Robot Navigation in Agricultural Territories

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PMB-2 technical specifications. http://pal-robotics.com/wp-content/uploads/2016/07/PMB-2-Datasheet.pdf

Tiago base. http://wiki.ros.org/Robots/PMB-2

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Title: Person-Following Algorithm Based on Laser Range Finder and Monocular Camera Data Fusion for a Wheeled Autonomous Mobile Robot
Authors: Elvira Chebotareva
Ramil Safin
Kuo-Hsien Hsia
Alexander Carballo
Evgeni Magid
Publisher: Springer International Publishing
Book: Interactive Collaborative Robotics
Print ISBN: 978-3-030-60336-6

Electronic ISBN: 978-3-030-60337-3

Copyright Year: 2020
DOI: https://doi.org/10.1007/978-3-030-60337-3_3

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