Abstract
This paper designs a vision-based pedestrian interception system with a mobile robot, which can be potentially utilized in such applications as service robots. Specifically, by employing the Histograms of Oriented Gradients(HOG), together with some Edge Detection (ED) method, we first propose a novel HOG-ED approach to detect a human being from the series of acquired images accurately, based on which the depth information is successfully extracted on the basis of some geometrical analysis. After that, a two-level vision-based control scheme integrating depth extraction is presented to drive a mobile robot to intercept the pedestrian. The accuracy of the proposed depth estimation method and the interception controller are validated through experimental results.
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He, W., Fang, Y., Zhang, X. (2012). The Study of a Vision-Based Pedestrian Interception System. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_65
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DOI: https://doi.org/10.1007/978-3-642-33509-9_65
Publisher Name: Springer, Berlin, Heidelberg
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