2A1-C15 Person Following Module in Indoor and Outdoor Real Environment Using RT Middleware

Abstract

This paper aim at verification of the validity of the distributed object technology in robot development, and verification of the robust person following algorithm in indoor and outdoor real environment. We propose the technique for realizing person following robustly in real environment. The proposal method is the target person detection method which combined image processing which used update HS Histogram matching, and the LRF processing using nearest neighbor cluster search. We connected a person following module to SegwayRMP and Enon. We performed verification of operation in indoor real environment, in outdoor real environment, in real environment which moves to indoor from outdoor environment.