Real-Time Algorithm for Relative Position Estimation Between Person and Robot Using a Monocular Camera

영상정보만을 이용한 사람과 로봇간 실시간 상대위치 추정 알고리즘

  • 이정욱 (삼성전자) ;
  • 선주영 (충남대학교 메카트로닉스공학과) ;
  • 원문철 (충남대학교 메카트로닉스공학과)
  • Received : 2012.09.24
  • Accepted : 2013.11.07
  • Published : 2013.12.01


In this paper, we propose a real-time algorithm for estimating the relative position of a person with respect to a robot (camera) using a monocular camera. The algorithm detects the head and shoulder regions of a person using HOG (Histogram of Oriented Gradient) feature vectors and an SVM (Support Vector Machine) classifier. The size and location of the detected area are used for calculating the relative distance and angle between the person and the camera on a robot. To increase the speed of the algorithm, we use a GPU and NVIDIA's CUDA library; the resulting algorithm speed is ~ 15 Hz. The accuracy of the algorithm is compared with the output of a SICK laser scanner.


Robot Vision;Histogram of Oriented Gradient;Support Vector Machine;CUDA


Supported by : 충남대학교


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