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ICRA
2005
IEEE

Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras

10 years 3 months ago
Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras
— This paper presents an efficient person tracking algorithm for a vision-based mobile robot using two independently moving cameras each of which is mounted on its own pan/tilt unit. Without calibrating these cameras, the goal of our proposed method is to estimate the distance to a target appearing in the image sequences captured by the cameras. The main contributions of our approach include: 1) establishing the correspondence between the control inputs to the pan/tilt units and the pixel displacement in the image plane without using the intrinsic parameters of the cameras; and 2) derivation of the distance information from the correspondence between the centers of masses of the segmented color-blobs from the left and the right images without stereo camera calibration. Our proposed approach has been successfully tested on a mobile robot for the task of person following in real environments.
Hyukseong Kwon, Youngrock Yoon, Jae Byung Park, Av
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Hyukseong Kwon, Youngrock Yoon, Jae Byung Park, Avinash C. Kak
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