Abstract
In this paper, we propose a mobile robot system which has functions of person following and autonomous returning. The robot realizes these functions by analyzing information obtained with camera and laser range finder. Person following is performed by using HOG features, color information, and shape of range data. Along with person following, a map of the ambient environment is generated from the range data. Autonomous returning to the starting point is performed by applying a potential method to the generated map. We verified the validity of the proposed method by experiment using a wheel mobile robot in an indoor environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Misawa, M., Yoshida, T., Yuta, S.: A Smart Handcart with Autonomous Returning Function. Journal of Robotics Society of Japan 25(8), 1199–1206 (2007) (in Japanese)
Lixin, T., Yuta, S.: Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Ominidirectional Images. Journal of Robotics and Mechatronics 14(4), 366–374 (2002)
Tsuda, N., Harimoto, S., Saitoh, T., Konishi, R.: Mobile Robot with Following and Returning Mode. In: Proceedigs of the 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2009), ThB1.3, pp. 933–938 (2009)
Okusako, S., Sakane, S.: Human Tracking with a Mobile Robot using a Laser Range-Finder. Journal of Robotics Society of Japan 24(5), 605–613 (2006) (in Japanese)
Dalal, N., Triggs, B.: Histgrams of Oriented Gradients for Human Detection. In: Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 886–893 (2005)
Kailath, T.: The Divergence and Bhattacharyya Distance Measures in Signal Selection. IEEE Transactions on Communication Technology COM-15(1), 52–60 (1967)
Besl, P.J., Mckay, N.D.: A Method for Registration of 3-D Shapes. IEEE Transaction on Pattern Analysis and Machine Intelligence 14(2), 239–256 (1992)
Iwashina, S., Yamashita, A., Kaneko, T.: 3-D Map Building in Dynamic Environments by a Mobile Robot Equipped with Two Laser Range Finders. In: Proceedings of the 3rd Asia International Symposium on Mechatronics, vol. TP1-3(1), pp. 1–5 (2008)
Sato, K.: Deadlock-free Motion Planning Using the Laplace Potential Field. In: Proceedings of the Joint International Conference on Mathematical Methods and Supercomputing in Nuclear Applications, pp. 449–461 (1994)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Awai, M., Shimizu, T., Kaneko, T., Yamashita, A., Asama, H. (2013). HOG-Based Person Following and Autonomous Returning Using Generated Map by Mobile Robot Equipped with Camera and Laser Range Finder. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)