RGB-D sensor based human detection and tracking using an armed robotic system

摘要

This paper presents a prototype of a military robot which implements an application of real time detection and tracking of human beings. A depth sensing camera system by Microsoft Kinect is utilized on a physical robot for human detection and aiming in static mode of operation. Human detection is obtained by using APIs of Open Natural Interaction (OpenNI) framework and the aiming routine is carried out by two different methods, firstly by using Regression Analysis between image pixels and the gun control motors, and secondly, by using inverse kinematics. The aiming performance is evaluated for both the methods and a comparison is made based on the accuracy.