Online Feature Weighting for Human Discrimination in a Person Following Robot
A robust and adaptive person-following behaviour is an important ability that most service robots must have to be able to face challenging illumination conditions, and crowded spaces of non-structured environments. In this paper, we propose a system which combines a laser based tracker with the support of a camera, acting as a discriminator between the target, and the other people present in the scene which might cause the laser tracker to fail. The discrimination is done using a online weighting of the feature space, based on the discriminability of each feature analysed.
keywords: feature weighting, person follower, guide robot
Publication: Congress
1624015006722
June 18, 2021
/research/publications/online-feature-weighting-for-human-discrimination-in-a-person-following-robot
A robust and adaptive person-following behaviour is an important ability that most service robots must have to be able to face challenging illumination conditions, and crowded spaces of non-structured environments. In this paper, we propose a system which combines a laser based tracker with the support of a camera, acting as a discriminator between the target, and the other people present in the scene which might cause the laser tracker to fail. The discrimination is done using a online weighting of the feature space, based on the discriminability of each feature analysed. - V. Álvarez-Santos, X.M. Pardo, R. Iglesias, A. Canedo-Rodríguez, C.V. Regueiro - 10.1007/978-3-642-21344-1_24
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