An improved method of optical flow using human body-following wheeled robot

摘要

The theory and technology of human–machine coordination and natural interaction have a wide range of application prospect in future smart factories. This paper elaborates on the design and implementation of a body-following wheeled robot system based on Kinect, as well as the use of gesture recognition function to enhance the interactive performance. An improved optical flow method is put forward to obtain the direction and speed of the target movement. The smoothing parameters in traditional optical flow are replaced by variables. The new smoothing parameter is related to the local gradient value. Compared with the traditional optical flow method, it can reflect the status of moving objects more clearly, reduce noise and ensure real-time performance, solving the problem of tracking state oscillation caused by the skeleton node drifts when the target is occluded. The experiment on the wheeled robot confirms that the system can accomplish the tracking task in a preferable way.