Binocular Vision Sensor (Kinect)-Based Pedestrian Following Mobile Robot

Huang Zhang; Rui Jun Yan; Wen Shen Zhou; Long Sheng

doi:10.4028/www.scientific.net/AMM.670-671.1326

Paper Titles

Analysis and Experimental Verification on Bias Drift of Silicon Microgyroscope
p.1305

Vibration Analysis of Silicon Microgyroscope Based on Simulink
p.1310

A Kind of Small Quadcopter
p.1317

A Method of Nonlinear Modal Superposition for Weakly Nonlinear Autonomous Systems
p.1321

Binocular Vision Sensor (Kinect)-Based Pedestrian Following Mobile Robot
p.1326

Control Method for Vehicles on Base of Natural Energy Recovery
p.1330

Control System Research of Square Steel Tube Straightening Machine
p.1337

LRF-Based Human Following Robot by Tracking Legs
p.1342

Performance Characteristics and Practice of Small Cylinder Crochet Galloon Machine
p.1346

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 670-671Binocular Vision Sensor (Kinect)-Based Pedestrian...

Binocular Vision Sensor (Kinect)-Based Pedestrian Following Mobile Robot

Abstract:

This paper present a pedestrian following mobile robot with binocular vision sensor. Because Kinect is one of the most inexpensive devices of depth-cameras, it is used in our application. Human skeleton is extracted by using Kinect, and the location of human is checked by projecting the three-dimensional (3D) pose of skeleton onto 2D screen. This 2D screen is separated into three parts, left, middle and right. Mobile robot rotates and translates according to the corresponding location of pedestrian. To make the robot move forward and backward, the distance between spine point and mobile robot is calculated. Finally, a real experimental result is used to validate our proposed method.

You might also be interested in these eBooks

Applied Mechanics, Materials and Manufacturing IV

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 670-671)

Pages:

1326-1329

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.670-671.1326

Citation:

Cite this paper

Online since:

October 2014

Authors:

Huang Zhang, Rui Jun Yan*, Wen Shen Zhou, Long Sheng

Keywords:

Binocular Vision, Human Tracking, KINECT, Mobile Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] M. D. Addlesee, A. H. Jones, F. Livesey, and F. S. Samaria, The ORL active floor, IEEE Personal Communications, 5(4), pp.35-41, (1997).

DOI: 10.1109/98.626980

Google Scholar

[2] S. Pirttikangas, J. Suutala, J. Riekki, and J. Roning, Footstep Identification from pressure signals using hidden markov models", Finnish Signal Processing Symposium (FINSIG, 03), (2003).

Google Scholar

[3] M. N. K. Boulos, B. J. Blanchard, C. Walker, J. Montero, A. Tripathy, and R. G. Osuna, Web GIS in Practice X: a Microsoft Kinect Natural User Interface for Google Earth Navigation, International Journal of Health Geographics, 10: 45, (2011).

DOI: 10.1186/1476-072x-10-45

Google Scholar

[4] Kinect for Windows. [Online]. Available: http: /www. microsoft. com/en-us/kinectforwindows.

Google Scholar

[5] K. Khoshelham and S. O. Elberink, Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications, Sensors, 12, pp.1437-1454, (2012).

DOI: 10.3390/s120201437

Google Scholar