Abstract
People detection and tracking are essential capabilities in order to achieve a natural humanrobot interaction. A great portion of the research in that area has been focused on monocular techniques. However, the use of stereo vision for these purposes concentrates a great interest nowadays. This paper presents a multi-agent system that implements a basic set of perceptual-motor skills providing mobile robots with primitive interaction capabilities. The skills designed use stereo and ultrasound information to enable mobile robots to (i) detect an interested user who desires to interact with the robot, (ii) keep track of the user while they move in the environment without confusing them with other people, and (iii) follow the user along the environment avoiding obstacles in the way. The system presented has been evaluated in several real-life experiments achieving good results and real-time performance on modest computers.
| Original language | English |
|---|---|
| Pages (from-to) | 715-727 |
| Number of pages | 13 |
| Journal | Robotica |
| Volume | 27 |
| Issue number | 5 |
| Publication status | Published - Sept 2009 |
| Externally published | Yes |
Bibliographical note
Funding Information:This work has been partially supported by the Spanish MEC project TIN2007-66367 and Andalusian Regional Government project P06-TIC1670.
Keywords
- Humanrobot interaction
- Mobile robots
- Service robots
- Stereo vision