TY - GEN
T1 - Multi-focal feature tracking for a human-assisted mobile robot
AU - Xu, Tingting
AU - Guo, Yi
AU - Kühnlenz, Kolja
AU - Buss, Martin
PY - 2009
Y1 - 2009
N2 - In the project Autonomous City Explorer, an interactive robot is designed to find its way to a given destination in unknown urban environments by interacting with pedestrians. Considering applications in a human dominated environment, the robot can be sent to a destination by tracking a landmark selected by users and described by 2D image features. To achieve a natural landmark selection from the user perspective and an accurate feature tracking for a safe robot navigation, the robot preselects visual features and presents the users only the image regions providing higher tracking accuracy. Furthermore, a multi-focal camera system is used to extend the sensing range. SIFT, Harris corner and optical flow used for tracking and self-localization are compared and applied to different visual sensors. A coordination strategy is realized, in which the camera with wide field of view is used for robot orientation control and the high-resolution camera is applied for robot forward motion control. The performance is experimentally evaluated.
AB - In the project Autonomous City Explorer, an interactive robot is designed to find its way to a given destination in unknown urban environments by interacting with pedestrians. Considering applications in a human dominated environment, the robot can be sent to a destination by tracking a landmark selected by users and described by 2D image features. To achieve a natural landmark selection from the user perspective and an accurate feature tracking for a safe robot navigation, the robot preselects visual features and presents the users only the image regions providing higher tracking accuracy. Furthermore, a multi-focal camera system is used to extend the sensing range. SIFT, Harris corner and optical flow used for tracking and self-localization are compared and applied to different visual sensors. A coordination strategy is realized, in which the camera with wide field of view is used for robot orientation control and the high-resolution camera is applied for robot forward motion control. The performance is experimentally evaluated.
UR - http://www.scopus.com/inward/record.url?scp=72849124255&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2009.5326313
DO - 10.1109/ROMAN.2009.5326313
M3 - Conference contribution
AN - SCOPUS:72849124255
SN - 9781424450817
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 861
EP - 866
BT - RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive
T2 - 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
Y2 - 27 September 2009 through 2 October 2009
ER -