People Tracking and Accompanying Algorithm for Mobile Robot Using Kinect Sensor and Extended Kalman Filter

키넥트센서와 확장칼만필터를 이용한 이동로봇의 사람추적 및 사람과의 동반주행

  • Park, Kyoung Jae (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Won, Mooncheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
  • 박경재 (충남대학교 메카트로닉스 공학과) ;
  • 원문철 (충남대학교 메카트로닉스 공학과)
  • Received : 2012.11.29
  • Accepted : 2014.03.07
  • Published : 2014.04.01


In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.


Robot Vision;Supprot Vector Machine;Extended Kalman Filter;Kinect Sensor


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