People tracking and following with mobile robot using an omnidirectional camera and a laser

摘要

The paper presents two different methods for mobile robot tracking and following of a fast-moving person in outdoor unstructured and possibly dynamic environment. The robot is equipped with laser range-finder and omnidirectional camera. The first method is based on visual tracking only and while it works well at slow speeds and controlled conditions, its performance quickly degrades as conditions become more difficult. The second method which uses the laser and the camera in conjunction for tracking performs well in dynamic and cluttered outdoor environments as long as the target occlusions and losses are temporary. Experimental results and analysis are presented for the second approach