HOG-Based Person Following and Autonomous Returning Using Generated Map by Mobile Robot Equipped with Camera and Laser Range Finder

  • Masashi Awai
  • Takahito Shimizu
  • Toru Kaneko
  • Atsushi Yamashita
  • Hajime Asama
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)

Abstract

In this paper, we propose a mobile robot system which has functions of person following and autonomous returning. The robot realizes these functions by analyzing information obtained with camera and laser range finder. Person following is performed by using HOG features, color information, and shape of range data. Along with person following, a map of the ambient environment is generated from the range data. Autonomous returning to the starting point is performed by applying a potential method to the generated map. We verified the validity of the proposed method by experiment using a wheel mobile robot in an indoor environment.

Keywords

Mobile Robot Laser Range Finder Camera Person Following 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Masashi Awai
    • 1
  • Takahito Shimizu
    • 1
  • Toru Kaneko
    • 1
  • Atsushi Yamashita
    • 2
  • Hajime Asama
    • 2
  1. 1.Department of Mechanical EngineeringShizuoka UniversityHamamatsu-shiJapan
  2. 2.Department of Precision EngineeringThe University of TokyoTokyoJapan

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