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Online Feature Weighting for Human Discrimination in a Person Following Robot

  • V. Alvarez-Santos
  • X. M. Pardo
  • R. Iglesias
  • A. Canedo-Rodriguez
  • C. V. Regueiro
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6686)

Abstract

A robust and adaptive person-following behaviour is an important ability that most service robots must have to be able to face challenging illumination conditions, and crowded spaces of non-structured environments. In this paper, we propose a system which combines a laser based tracker with the support of a camera, acting as a discriminator between the target, and the other people present in the scene which might cause the laser tracker to fail. The discrimination is done using a online weighting of the feature space, based on the discriminability of each feature analysed.

Keywords

feature weighting person follower guide robot 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • V. Alvarez-Santos
    • 1
  • X. M. Pardo
    • 1
  • R. Iglesias
    • 1
  • A. Canedo-Rodriguez
    • 1
  • C. V. Regueiro
    • 2
  1. 1.Department of Electronics and Computer ScienceUniversidade de Santiago de CompostelaSpain
  2. 2.Department of Electronics and SystemsUniversidade da CoruñaSpain

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