Person Following through Appearance Models and Stereo Vision Using a Mobile Robot

Daniele Calisi, Luca Iocchi, Riccardo Leone



Following a person is an important task for mobile service and domestic robots in applications in which human-robot interaction is a primary requirement. In this paper we present an approach that integrates appearance models and stereo vision for efficient people tracking in domestic environments. Stereo vision helps in obtaining a very good segmentation of the scene to detect a person during the automatic model acquisition phase, and to determine the position of the target person in the environment. A navigation module and a high level person following behavior are responsible for performing the task in dynamic and cluttered environments. Experimental results are provided to demonstrate the effectiveness of the proposed approach.


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Paper Citation

in Harvard Style

Calisi D., Iocchi L. and Leone R. (2007). Person Following through Appearance Models and Stereo Vision Using a Mobile Robot . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 46-56. DOI: 10.5220/0002069800460056

in Bibtex Style

@conference{robot vision07,
author={Daniele Calisi and Luca Iocchi and Riccardo Leone},
title={Person Following through Appearance Models and Stereo Vision Using a Mobile Robot},
booktitle={Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)},

in EndNote Style

JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
TI - Person Following through Appearance Models and Stereo Vision Using a Mobile Robot
SN - 978-972-8865-76-4
AU - Calisi D.
AU - Iocchi L.
AU - Leone R.
PY - 2007
SP - 46
EP - 56
DO - 10.5220/0002069800460056