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Novel Handoff Frequency Algorithms for Vehicular Area Networks Read chapter Read first chapter

2013 | OriginalPaper | Chapter

Vision-Based Human Following Method for a Mobile Robot Using Human and Face Detection

Authors : Se-Jun Park, Tae-Kyu Yang, Yong-Ho Seo

Published in: Information Technology Convergence

Publisher: Springer Netherlands

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Abstract

This paper presents a method of vision based human following for a mobile robot to trace a given human in an indoor environment. For a mobile robot to perform vision based human tracing reliably, we combined a silhouette based human detection and two-stage face detection technique. In this paper, the human detection uses a Histogram of Oriented Gradient (HOG). The face detection is composed of two stages, face detection using a Haar-like wavelet feature and AdaBoost and face detection using skin color with motion information and validation of contour shape. Finally, the performance of the proposed system is verified by conducting experiments where a mobile robot follows a human successfully in a real indoor environment.

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previous chapter Marker Tracking for Indirect Positioning During Fabric Manipulation
next chapter Precise Location Estimation Method Using a Localization Sensor for Goal Point Tracking of an Indoor Mobile Robot
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Metadata
Title
Vision-Based Human Following Method for a Mobile Robot Using Human and Face Detection
Authors
Se-Jun Park
Tae-Kyu Yang
Yong-Ho Seo
Copyright Year
2013
Publisher
Springer Netherlands
Book
Information Technology Convergence

Print ISBN: 978-94-007-6995-3

Electronic ISBN: 978-94-007-6996-0

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-94-007-6996-0_94