ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect | |
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學年 | 107 |
學期 | 1 |
出版(發表)日期 | 2019-01-29 |
作品名稱 | ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect |
作品名稱(其他語言) | |
著者 | Sidagam Sankar; Chi-Yi Tsai |
單位 | |
出版者 | |
著錄名稱、卷期、頁數 | Applied System Innovation 2(1), p.1-12 |
摘要 | Human detection and tracking is an important task in artificial intelligent robotic systems, which usually require a robust target detector to work in a variety of circumstances. In complex environments where a camera is installed on a wheeled mobile robot, this task becomes much more difficult. In this paper, we present a real-time remote-control system for human detection, tracking, security, and verification in such challenging environments. Such a system is useful for security monitoring, data collection, and experimental purpose. In the proposed system, a Kinect RGB-D camera from Microsoft is used as a visual sensing device for the design of human detection and tracking. We also implemented a remote-control system on a four-wheel mobile platform with a Robot Operating System (ROS). By combining these two designs, a wireless controlled mobile platform having the feature of real-time human monitoring can be realized to handle this task efficiently. Experimental results validate the performance of the proposed system for wirelessly controlling the mobile robot to track humans in a real-world environment. |
關鍵字 | robot operating system (ROS);human detection;human tracking;wheeled mobile platform;RGB-D camera |
語言 | en |
ISSN | |
期刊性質 | 國外 |
收錄於 | |
產學合作 | |
通訊作者 | |
審稿制度 | 否 |
國別 | CHE |
公開徵稿 | |
出版型式 | ,電子版 |
相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/116042 ) |
SDGS | 夥伴關係,優質教育,產業創新與基礎設施 |