Person Following Robot Using Selected Online Ada-Boosting with Stereo Camera

摘要

Person following behavior is an important task for social robots. To enable robots to follow a person, we have to track the target in real-time without critical failures. There are many situations where the robot will potentially loose tracking in a dynamic environment, e.g., occlusion, illumination, pose-changes, etc. Often, people use a complex tracking algorithm to improve robustness. However, the trade-off is that their approaches may not able to run in real-time on mobile robots. In this paper, we present Selected Online Ada-Boosting (SOAB) technique, a modified Online Ada-Boosting (OAB) tracking algorithm with integrated scene depth information obtained from a stereo camera which runs in real-time on a mobile robot. We build and share our results on the performance of our technique on a new stereo dataset for the task of person following. The dataset covers different challenging situations like squatting, partial and complete occlusion of the target being tracked, people wearing similar clothes, appearance changes, walking facing the front and back side of the person to the robot, and normal walking.