ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect
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 )

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