Shuhei Takiguchi
ABSTRACT
In recent years, autonomous robot development has progressed rapidly. However, robots that track and support specific people under all circumstances have not yet been developed. This paper discusses part of the tracking system that could help create a welfare robot that tracks a specific person and provides him/her with personal care. In this study, a tracker that identifies the intended object by shape is used. A Kernelized Correlation Filter (KCF) tracker is used to detect and track a specific person, but it has a weakness in the presence of obstacles. If something passes in front of the target person, the obstacle may be detected as the correct target. This study proposes a process that recognizes a potential misrecognition using a distance sensor called Lidar. If both the tracker and Lidar do not take a true value, they will stop tracking immediately.
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Index Terms
- Development of a Moving Person Tracking System-Obstacle Detection by Distance Sensor
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