Adaptive person-following algorithm based on depth images and mapping Conference Paper uri icon


  • Abstract—Person following by a mobile autonomous robot includes two tasks, person tracking and safe robot navigation. Two person-following algorithms that use depth images from a Microsoft Kinect sensor for person tracking are proposed. The first one, the path- following algorithm, reproduces the path of the person in the environment. The second one, the adaptive algorithm, uses in addition a laser range finder for localization and dynamically generates the robot's path inside a pre-mapped environment, taking into account the obstacles locations. The Kinect was mounted on a pan-tilt mechanism to allow continuous person tracking while the robot followed the generated path. The two algorithms were tested and their performance compared in a series of trials where the robot had to follow a person walking in an environment with obstacles. With both algorithms the robot could perform …

publication date

  • October 1, 2012