足先軌道に着目した追尾ロボットシステムの構築

抄録

We constructed a system of tracking robot focusing on toe trajectory. In order to detect human feet, this system used a background subtraction method and inter-flame difference method to find the moving area. Furthermore, this system detected feature points from moving area and calculating optical flow in the region of interest. Calculating the center of gravity of the three feature points detected under the image as the motion of the human foot. Also, the average position of the center of gravity in the last five flames was calculated and used for motion control of the robot. Using this system, we conducted a tracking experiment using a corridor course and an experiment in which we passed by people other than the target of the tracking. As a result, in both cases, the success rate was 70 %, confirming the effectiveness of this system.