In this paper we present a robotic attendant, i.e. a mobile platform equipped with a TV camera which is capable of following a human leader along complex trajectories. Differently from existing systems which mainly rely on the detection of colour blobs or particular features/markers, our system is based on the detection of motion through optical flow computation, thus being implicitly able to follow both persons and other robots with different physical characteristics in terms of colour, shape, etc.
The Robotic Attendant: How to Follow a Leader Through Visual Servoing
SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2004-01-01
Abstract
In this paper we present a robotic attendant, i.e. a mobile platform equipped with a TV camera which is capable of following a human leader along complex trajectories. Differently from existing systems which mainly rely on the detection of colour blobs or particular features/markers, our system is based on the detection of motion through optical flow computation, thus being implicitly able to follow both persons and other robots with different physical characteristics in terms of colour, shape, etc.
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