Online Boosting-Based Target Identification among Similar Appearance for Person-Following Robots

摘要

It is challenging for a mobile robot to follow a specific target person in a dynamic environment, comprising people wearing similar-colored clothes and having the same or similar height. This study describes a novel framework for a person identification model that identifies a target person by merging multiple features into a single joint feature online. The proposed framework exploits the deep learning output to extract four features for tracking the target person without prior knowledge making it generalizable and more robust. A modified intersection over union between the current frame and the last frame is proposed as a feature to distinguish people, in addition to color, height, and location. To improve the performance of target identification in a dynamic environment, an online boosting method was adapted by continuously updating the features in every frame. Through extensive real-life experiments, the effectiveness of the proposed method was demonstrated by showing experimental results that it outperformed the previous methods.