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    题名: ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect
    作者: Sidagam Sankar;Chi-Yi Tsai
    关键词: robot operating system (ROS);human detection;human tracking;wheeled mobile platform;RGB-D camera
    日期: 2019-01-29
    上传时间: 2019-03-23 12:10:29 (UTC+8)
    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.
    關聯: Applied System Innovation 2(1), p.1-12
    DOI: 10.3390/asi2010005
    显示于类别:[電機工程學系暨研究所] 期刊論文


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