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Visual Person Identification Using a Distance-dependent Appearance Model for a Person Following Robot 被引量:5
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作者 Junji Satake Masaya Chiba Jun Miura 《International Journal of Automation and computing》 EI CSCD 2013年第5期438-446,共9页
This paper describes a person identifcation method for a mobile robot which performs specifc person following under dynamic complicated environments like a school canteen where many persons exist.We propose a distance... This paper describes a person identifcation method for a mobile robot which performs specifc person following under dynamic complicated environments like a school canteen where many persons exist.We propose a distance-dependent appearance model which is based on scale-invariant feature transform(SIFT) feature.SIFT is a powerful image feature that is invariant to scale and rotation in the image plane and also robust to changes of lighting condition.However,the feature is weak against afne transformations and the identifcation power will thus be degraded when the pose of a person changes largely.We therefore use a set of images taken from various directions to cope with pose changes.Moreover,the number of SIFT feature matches between the model and an input image will decrease as the person becomes farther away from the camera.Therefore,we also use a distance-dependent threshold.The person following experiment was conducted using an actual mobile robot,and the quality assessment of person identifcation was performed. 展开更多
关键词 mobile robots image processing intelligent systems identifcation scale-invariant feature transform(SIFT)feature
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