Abstract
This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3D position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human's motion state. The mobile robot is controlled to track the moving human in the view of Kinect. The experimental verification result is reported in this paper.
| Original language | English |
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| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 2207-2211 |
| Number of pages | 5 |
| Publication status | Published - 2012 |
| Event | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita Duration: 2012 Aug 20 → 2012 Aug 23 |
Other
| Other | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 |
|---|---|
| City | Akita |
| Period | 12/8/20 → 12/8/23 |
Keywords
- 3D sensor
- human motion tracking
- Kalman filter
- Kinect
- mobile robot
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications