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Title: Robot vision - Color based human tracking using the UV model
Authors: LIM PETER
Keywords: Skin-color segmentation, Robot vision, Color-based tracking, Human following and obstacle
Issue Date: 24-Mar-2005
Citation: LIM PETER (2005-03-24). Robot vision - Color based human tracking using the UV model. ScholarBank@NUS Repository.
Abstract: The main objective of robotic research is to aid industrialism, making human lives convenient and flexible with the use of robots. This work addresses a scenario where a mobile robot tracks and follows a human. Some of the conventional methods such as Neural network, color skin probability map, Heuristic rule and Bayesian decision theory are used in this work. The real-time face detection module, based on a two-dimensional color model in the YUV color space is selected over the traditional skin color model in a three-dimensional color space. A modified CAMSHIFT tracking mechanism in a one-dimensional HSV color space is developed and implemented onto the mobile robot. In addition to the visual cues, the tracking process considers sixteen sonar-scan and tactile sensor readings to generate a robust measure of the person's distance from the robot. The proposed approach is orientation invariant under varying lighting conditions and under natural transformations.
Appears in Collections:Master's Theses (Open)

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