Person following with obstacle avoidance based on multi-layered mean shift and force field method

摘要

The paper presents the person following method with obstacle avoidance. The robot is equipped with RGB camera and laser range finder. The method is based on the target person tracking using multi-layered mean shift and three force fields based obstacle avoidance. To validate the method, we applied this method on the robot platform. The experimental result and analysis are presented in the experiment.