Robotic Person-Following in Cluttered Environments

Robotic Person-Following in Cluttered Environments

Bibliographic Details
Main Author: Kulp, William R.
Language:English
Published: Case Western Reserve University School of Graduate Studies / OhioLINK 2012
Subjects:
Computer Science
Electrical Engineering
Robotics
Robots
robotics
person-tracking
person-following
mobile robot
kinect
path planning
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=case1341202528
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-case13412025282021-08-03T05:34:43Z Robotic Person-Following in Cluttered Environments Kulp, William R. Computer Science Electrical Engineering Robotics Robots robotics person-tracking person-following mobile robot kinect path planning This thesis presents the development of hardware and software elements for the task of a mobile robot following a specific person through an obstacle-filled room. Person-tracking is performed via a Microsoft Kinect placed on a panning mount. A sensor fusion algorithm combines information from the Kinect with a face detector, a LIDAR-based leg detector, and a color signature. A dynamic replanning system was created to allow the robot to converge on targets moving through space navigable by the robot. Performance data is presented for the experimental system. 2012-08-27 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1341202528 http://rave.ohiolink.edu/etdc/view?acc_num=case1341202528 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Computer Science
Electrical Engineering
Robotics
Robots
robotics
person-tracking
person-following
mobile robot
kinect
path planning
spellingShingle Computer Science
Electrical Engineering
Robotics
Robots
robotics
person-tracking
person-following
mobile robot
kinect
path planning
Kulp, William R.
Robotic Person-Following in Cluttered Environments
author Kulp, William R.
author_facet Kulp, William R.
author_sort Kulp, William R.
title Robotic Person-Following in Cluttered Environments
title_short Robotic Person-Following in Cluttered Environments
title_full Robotic Person-Following in Cluttered Environments
title_fullStr Robotic Person-Following in Cluttered Environments
title_full_unstemmed Robotic Person-Following in Cluttered Environments
title_sort robotic person-following in cluttered environments
publisher Case Western Reserve University School of Graduate Studies / OhioLINK
publishDate 2012
url http://rave.ohiolink.edu/etdc/view?acc_num=case1341202528
work_keys_str_mv AT kulpwilliamr roboticpersonfollowinginclutteredenvironments
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