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Human-Tracking Behavior of Mobile Robot Using Multi-Camera System in a Networked ISpace
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  • Human-Tracking Behavior of Mobile Robot Using Multi-Camera System in a Networked ISpace
  • Human-Tracking Behavior of Mobile Robot Using Multi-Camera System in a Networked ISpace
저자명
진태석,하시모토 히데키,Jin. Tae-Seok,Hashimoto. Hideki
간행물명
로봇학회논문지
권/호정보
2007년|2권 4호|pp.310-316 (7 pages)
발행정보
한국로봇학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.