RGB-D 카메라를 이용한 모바일 로봇의 사람 검출과 추적
In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2’s Kinect devices and a high performance controller. One...
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| Published in | 한국컴퓨터정보학회논문지, 22(12) pp. 17 - 25 |
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| Main Author | |
| Format | Journal Article |
| Language | Korean |
| Published |
한국컴퓨터정보학회
01.12.2017
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-849X 2383-9945 |
| DOI | 10.9708/jksci.2017.22.12.017 |
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| Summary: | In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2’s Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach. KCI Citation Count: 0 |
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| ISSN: | 1598-849X 2383-9945 |
| DOI: | 10.9708/jksci.2017.22.12.017 |