Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
PEOPLE FOLLOWING SYSTEM FOR HOLONOMIC ROBOTS USING AN RGB-D SENSOR
Submission Author:
Gabriel Abati , RJ
Co-Authors:
Gabriel Abati, João Carlos Virgolino Soares, Marcelo Gattass, Marco Antonio Meggiolaro
Presenter: Gabriel Abati
doi://10.26678/ABCM.COBEM2021.COB2021-1187
Abstract
People following is an important task in mobile robotics, with applications in several areas, such as industry, hospitals and home services. Recent advances on deep learning techniques and the availability of RGB-D sensors resulted in a higher robustness in identifying the target during these tasks. This paper presents a system for people following using an RGB-D sensor. The proposed method uses object tracking, combined with a vision-based controller that exploits the advantages of the high maneuverability of holonomic robots. Experimental tests are performed with a mecanum-wheeled robot equipped with an RGB-D camera to evaluate the effectiveness of the proposed approach.
Keywords
People Following, Human detection and tracking, Holonomic robots, RGB-D Sensor
