Human tracking and following using sound source localization for multisensor based mobile assistive companion robot
作者： Ren C. Luo , Chien H. Huang , Tsu T. Lin
DOI: 10.1109/IECON.2010.5675451
关键词:
摘要: We have developed a mobile assistive companion robot by combining vision sensor and laser range to track follow target person. Although it works well in most cases, might lose occasionally due external factors such as bad view conditions or unconstructed environments. To solve this problem, we develop speech system sound source detection achieve localization interaction between users robot. When gets lost during the tracking following process, will inform user, wait for clapping from user re-localize user's location. The proposed method integrates human based on retrieve person's location when get lost, which is significantly different other solutions use motion model Bayesian filters Kalman particle estimate losing target. In paper, demonstrated success of experimentally.
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