Human Detection and Tracking with Visual Odometry and Automatic Vehicle Control

論文翻譯標題: 服務型機器人對於人的辨認,追蹤及導引?能的開發與實做
  • 何 佳瑋

學生論文: Master's Thesis

摘要

This Master's Thesis presents a robot designed for guiding and tracking people from one point to another using only a Kinect as sensor Using Speeded-Up Robust Features feature extraction keypoints are retrieved from the images and stored using the Bag-of-Word model A simultaneous localization and mapping program then performs loop closure to create maps in which the vehicle can localize itself Based on a reference path and the vehicle dynamic model a Model Predictive Control algorithm is used to produce steering angle and velocity inputs designed to optimize a track following trajectory The cost function takes into consideration input variation to provide a smoother trajectory for the user to follow Finally depth clustering and bin summing performed on the point clouds to extract regions of interest ready for upper-body detection The person detections are then transmitted to a multi-hypothesis tracker that determines overlap-free people tracks over time The vehicle control inputs are then transmitted to the vehicle controller based on the detection and tracking of the user to be guided This Master's Thesis thus provides a real-time operating framework able to automatically guide its user along a smooth track while monitoring his presence
獎項日期2018 七月 13
原文English
監督員Jiun-Haur Tarn (Supervisor)

引用此

Human Detection and Tracking with Visual Odometry and Automatic Vehicle Control
佳瑋, 何. (Author). 2018 七月 13

學生論文: Master's Thesis