Image processing for robotic person tracking

Mahmoud Tarokh, Paulo Merloti, Wen Shan Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper addresses the problem of person tracking in indoor and outdoor environments with significant light variations. This is achieved in part by real-time control of camera parameters affecting the light exposure, i.e. camera gain, shutter speed and iris. Several other new strategies are also formulated to recognize and segment the person from the environment, and to reacquire the person when he is lost during difficult walking maneuvers. The centroid of person's image, which is a critical quantity for person tracking, is determined using a new method based on detected regions and color of the regions. In addition to the camera exposure control, the camera pan and tilt and the moving platform's speed and steering are controlled using the characteristics of the detected person's image such as mass (area) and centroid. The system has been implemented on a Segway robotic platform that has been equipped with a camera, an onboard computer, loud speakers, game-pad, etc. Extensive trials have been carried out both indoors and outdoors, and a video has been prepared that shows the person following under a variety of conditions.

Original languageEnglish
Title of host publicationProceedings of the 2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010
Pages830-836
Number of pages7
Publication statusPublished - 2010 Dec 1
Event2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010 - Las Vegas, NV, United States
Duration: 2010 Jul 122010 Jul 15

Publication series

NameProceedings of the 2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010
Volume2

Conference

Conference2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010
CountryUnited States
CityLas Vegas, NV
Period10-07-1210-07-15

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All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Vision and Pattern Recognition

Cite this

Tarokh, M., Merloti, P., & Lin, W. S. (2010). Image processing for robotic person tracking. In Proceedings of the 2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010 (pp. 830-836). (Proceedings of the 2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010; Vol. 2).