A robust tracking algorithm for a human-following mobile robot

Tsung Han Tsai, Chia Hsiang Yao

研究成果: 雜誌貢獻期刊論文同行評審

10 引文 斯高帕斯(Scopus)


The capability of recognizing and tracking a specific human is considered a key technique for serving mobile robots. This paper proposes a real-time tracker that uses a stereo camera to track specific people in different environments. A tracker has been designed to detect the selected target from multiple people by use of block matching algorithm, human detection, and colour histogram comparison. Considering the similar colour of the objects, the predictor of the Kalman filter determines the position of the object. Finally, the mobile robot is moved according to the tracking results with a relative distance between the robot and the target. The effectiveness of the proposed method is demonstrated by experiments on many video sequences and real environments.

頁(從 - 到)786-796
期刊IET Image Processing
出版狀態已出版 - 2月 2021


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