论文标题
自动人物特定于机器人
Autonomous Person-Specific Following Robot
论文作者
论文摘要
在许多人类机器人协作应用程序中，遵循特定用户是所需甚至需要的服务机器人功能。但是，大多数现有的跟随机器人都遵循人们不了解其遵循的人。在本文中，我们提出了一个特定于身份的人跟踪器，能够跟踪和识别附近的人，以使人特定的追随者。我们提出的方法使用一个带有阈值选择算法的顺序最近邻居，我们设计了将匿名人物跟踪器和面部识别器融合在一起。实验结果将我们提出的方法与替代方法进行了比较，表明我们的方法在跟踪和识别人员方面可以更好地表现性能，并在追随目标个体方面提高了机器人性能。
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In this paper, we proposed an identity-specific person tracker, capable of tracking and identifying nearby people, to enable person-specific following. Our proposed method uses a Sequential Nearest Neighbour with Thresholding Selection algorithm we devised to fuse together an anonymous person tracker and a face recogniser. Experiment results comparing our proposed method with alternative approaches showed that our method achieves better performance in tracking and identifying people, as well as improved robot performance in following a target individual.
