1. Real-Time Algorithm for Relative Position Estimation Between Person and Robot Using a Monocular Camera
- Author
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Ju Young Sun, Jung Uk Lee, and Mooncheol Won
- Subjects
Laser scanning ,Computer science ,business.industry ,Mechanical Engineering ,Feature vector ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Support vector machine ,CUDA ,Histogram ,Robot ,Computer vision ,Artificial intelligence ,business ,Classifier (UML) ,Monocular camera - Abstract
In this paper, we propose a real-time algorithm for estimating the relative position of a person with respect to a robot (camera) using a monocular camera. The algorithm detects the head and shoulder regions of a person using HOG (Histogram of Oriented Gradient) feature vectors and an SVM (Support Vector Machine) classifier. The size and location of the detected area are used for calculating the relative distance and angle between the person and the camera on a robot. To increase the speed of the algorithm, we use a GPU and NVIDIA's CUDA library; the resulting algorithm speed is ~ 15 Hz. The accuracy of the algorithm is compared with the output of a SICK laser scanner.
- Published
- 2013
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