Person Tracking, Pursuit & Interception by Mobile Robot
نویسندگان
چکیده
We present a method of tracking a human target whilst navigating in an unknown environment using a combination of visual and laser range sensing. The target’s legs detected by laser initialize both the pursuit process and modelling of target visual appearance. Intermittent recognition & tracking is possible using the learned visual model, as would likely occur in real pursuit scenarios when the target is temporarily obscured by obstacles. Use of range sensors and coordination of visual target tracking and obstacle avoidance behaviours allow operation in realistic environments. The system is applicable to both security and domestic assistance tasks.
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