Human Tracking Using Size Adaptation and Vector Position for Person Following Robot Using MS Kinect Xbox 360

摘要

This study involves a robot that follows human, tracked by using its position and direction by size adaptation and position vector. The Kinect sensor uses the human skeleton tracking method to track the position and distance of the target. Microsoft Kinect Xbox 360 generates a three-dimensional image of the objects in its field of view and recognizes human beings among those objects. Position and direction are used as a tracking algorithm. As the system identify the target, the position of it will be used to track the target itself. When occlusion occur between the distracter and the target, the direction of the target will be used for tracking. A laptop is used in this research to process the data from the Kinect sensor and transferred to the microcontroller. The person following robot is operated by a two-stepper motor that acts as its actuator for the wheels. The experimental results demonstrate that our robot can robustly follow the target.