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ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect

1,† and 2,*,†
1
Department of Electronics and Communication Engineering, Vel tech Rangarajan Dr. Sagunthala R&D Institution of Science and Technology, No.42, Veltech Road, Avadi, Chennai 600062, Tamil Nadu, India
2
Department of Electrical and Computer Engineering, Tamkang University, No.151, Yingzhuan Road, Tamsui District, New Taipei City 25137, Taiwan
*
Author to whom correspondence should be addressed.
The authors contributed equally to this work.
Appl. Syst. Innov. 2019, 2(1), 5; https://doi.org/10.3390/asi2010005
Received: 30 December 2018 / Revised: 18 January 2019 / Accepted: 24 January 2019 / Published: 29 January 2019
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PDF [7585 KB, uploaded 29 January 2019]
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Abstract

Human detection and tracking is an important task in artificial intelligent robotic systems, which usually require a robust target detector to work in a variety of circumstances. In complex environments where a camera is installed on a wheeled mobile robot, this task becomes much more difficult. In this paper, we present a real-time remote-control system for human detection, tracking, security, and verification in such challenging environments. Such a system is useful for security monitoring, data collection, and experimental purpose. In the proposed system, a Kinect RGB-D camera from Microsoft is used as a visual sensing device for the design of human detection and tracking. We also implemented a remote-control system on a four-wheel mobile platform with a Robot Operating System (ROS). By combining these two designs, a wireless controlled mobile platform having the feature of real-time human monitoring can be realized to handle this task efficiently. Experimental results validate the performance of the proposed system for wirelessly controlling the mobile robot to track humans in a real-world environment. View Full-Text
Keywords: robot operating system (ROS); human detection; human tracking; wheeled mobile platform; RGB-D camera robot operating system (ROS); human detection; human tracking; wheeled mobile platform; RGB-D camera
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Sankar, S.; Tsai, C.-Y. ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect. Appl. Syst. Innov. 2019, 2, 5.

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