Guide robot with personal identification method using dress color information via KINECT

摘要

In this paper, a Simple Personal Identification (SPI) method using Dress Color Information (DCI) for a guide robot is proposed. The DCI is a small number of color information that is only calculated at narrow areas around a user's (guided person's) joint positions obtained via KINECT on a mobile robot. The SPI method includes not only the person's skeletal information but also the DCI. This method can identify the specific user in real time. As a result, even if the mobile robot loses the user temporarily when there are many people present, it can find the user properly and promptly. In addition, it can maintain the distance to the user according to the walking speed. Experiments that show the accuracy of the SPI method using the DCI and the example of guidance to the destination are presented.