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Active stereo vision-based mobile robot navigation for person tracking. / De Cubber, Geert; Enescu, Valentin; Sahli, Hichem; Demeester, Eric; Nuttin, Marnix; Vanhooydonck, Dirk.

In: Integrated Computer-Aided Engineering, Vol. 13, 24.07.2006, p. 203-222.

Research output: Contribution to journalArticle

Harvard

De Cubber, G, Enescu, V, Sahli, H, Demeester, E, Nuttin, M & Vanhooydonck, D 2006, 'Active stereo vision-based mobile robot navigation for person tracking', Integrated Computer-Aided Engineering, vol. 13, pp. 203-222.

APA

De Cubber, G., Enescu, V., Sahli, H., Demeester, E., Nuttin, M., & Vanhooydonck, D. (2006). Active stereo vision-based mobile robot navigation for person tracking. Integrated Computer-Aided Engineering, 13, 203-222.

Vancouver

De Cubber G, Enescu V, Sahli H, Demeester E, Nuttin M, Vanhooydonck D. Active stereo vision-based mobile robot navigation for person tracking. Integrated Computer-Aided Engineering. 2006 Jul 24;13:203-222.

Author

De Cubber, Geert ; Enescu, Valentin ; Sahli, Hichem ; Demeester, Eric ; Nuttin, Marnix ; Vanhooydonck, Dirk. / Active stereo vision-based mobile robot navigation for person tracking. In: Integrated Computer-Aided Engineering. 2006 ; Vol. 13. pp. 203-222.

BibTeX

@article{2c2cd28d2aea4009ae0135448c005050,
title = "Active stereo vision-based mobile robot navigation for person tracking",
abstract = "In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.",
keywords = "mobile robot, active vision, stereo, navigation",
author = "{De Cubber}, Geert and Valentin Enescu and Hichem Sahli and Eric Demeester and Marnix Nuttin and Dirk Vanhooydonck",
note = "Integrated Computer-Aided Engineering, Vol. ?, Nr. ?, pp. ?, .",
year = "2006",
month = "7",
day = "24",
language = "English",
volume = "13",
pages = "203--222",
journal = "Integrated Computer-Aided Engineering",
issn = "1069-2509",
publisher = "IOS Press",

}

RIS

TY - JOUR

T1 - Active stereo vision-based mobile robot navigation for person tracking

AU - De Cubber, Geert

AU - Enescu, Valentin

AU - Sahli, Hichem

AU - Demeester, Eric

AU - Nuttin, Marnix

AU - Vanhooydonck, Dirk

N1 - Integrated Computer-Aided Engineering, Vol. ?, Nr. ?, pp. ?, .

PY - 2006/7/24

Y1 - 2006/7/24

N2 - In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.

AB - In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.

KW - mobile robot

KW - active vision

KW - stereo

KW - navigation

M3 - Article

VL - 13

SP - 203

EP - 222

JO - Integrated Computer-Aided Engineering

JF - Integrated Computer-Aided Engineering

SN - 1069-2509

ER -

ID: 1496041