1P1-M12 A Study on a Detection and Tracking Method of Multiple Moving Persons for a Guide Robot(Vision System for Mobile Robot)

Abstract

One of necessary functions for a guide robot is to detect persons around it. We propose the method that enables a robot to detect multiple moving persons even if the robot is also moving. The robot has an omni-directional camera and a laser range finder. First, skin-color and hair-color extraction based on image processing technique is done and the multiple candidate regions of persons are obtained. Then, template matching is applied to range data corresponding to the candidate regions. Thus, the robot can determine the exact person regions. Experimental result basically shows the effectiveness of the proposed method.