A multimodal person-following system for telepresence applications
This paper presents the design and implementation of a multimodal person-following system for a mobile telepresence robot. A color histogram matching and position matching algorithm was developed for a person-recognition function using Kinect sensors. Robot motion was controlled by adjusting its vel...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/137942 |
| _version_ | 1824456428092391424 |
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| author | Pang, Wee Ching Seet, Gerald Gim Lee Yao, Xiling |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Pang, Wee Ching Seet, Gerald Gim Lee Yao, Xiling |
| author_sort | Pang, Wee Ching |
| collection | NTU |
| description | This paper presents the design and implementation of a multimodal person-following system for a mobile telepresence robot. A color histogram matching and position matching algorithm was developed for a person-recognition function using Kinect sensors. Robot motion was controlled by adjusting its velocity according to the humans position in relation to the robot. The robot was able to follow the targeted person in various person-following modes, such as the back-following mode, the side-by-side accompaniment mode as well as the front-guiding mode. An obstacle avoidance function was also implemented using the virtual potential field algorithm. |
| first_indexed | 2025-02-19T03:53:56Z |
| format | Conference Paper |
| id | ntu-10356/137942 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:53:56Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1379422020-09-26T21:53:37Z A multimodal person-following system for telepresence applications Pang, Wee Ching Seet, Gerald Gim Lee Yao, Xiling School of Mechanical and Aerospace Engineering Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology (VRST 2013) Institute for Media Innovation (IMI) Robotics Research Centre Engineering::Mechanical engineering::Robots Telepresence Robot Multimodal Person-following This paper presents the design and implementation of a multimodal person-following system for a mobile telepresence robot. A color histogram matching and position matching algorithm was developed for a person-recognition function using Kinect sensors. Robot motion was controlled by adjusting its velocity according to the humans position in relation to the robot. The robot was able to follow the targeted person in various person-following modes, such as the back-following mode, the side-by-side accompaniment mode as well as the front-guiding mode. An obstacle avoidance function was also implemented using the virtual potential field algorithm. NRF (Natl Research Foundation, S’pore) Accepted version 2020-04-20T05:03:09Z 2020-04-20T05:03:09Z 2013 Conference Paper Pang, W. C., Seet, G. G. L., & Yao, X. (2013). A multimodal person-following system for telepresence applications. Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology (VRST 2013), 157-164. doi:10.1145/2503713.2503722 https://hdl.handle.net/10356/137942 10.1145/2503713.2503722 157 164 en © 2013 ACM. All rights reserved. This paper was published in Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology (VRST 2013) and is made available with permission of ACM. application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Telepresence Robot Multimodal Person-following Pang, Wee Ching Seet, Gerald Gim Lee Yao, Xiling A multimodal person-following system for telepresence applications |
| title | A multimodal person-following system for telepresence applications |
| title_full | A multimodal person-following system for telepresence applications |
| title_fullStr | A multimodal person-following system for telepresence applications |
| title_full_unstemmed | A multimodal person-following system for telepresence applications |
| title_short | A multimodal person-following system for telepresence applications |
| title_sort | multimodal person following system for telepresence applications |
| topic | Engineering::Mechanical engineering::Robots Telepresence Robot Multimodal Person-following |
| url | https://hdl.handle.net/10356/137942 |
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