Tracking and following people with a mobile robotic device
US9321173B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 22, 2012 |
| Grant date | Apr 26, 2016 |
| Priority date | — |
| Expiry date | Oct 26, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30201
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Tracking and following technique embodiments are presented that are generally employed to track and follow a person using a mobile robotic device having a color video camera and a depth video camera. A computer associated with the mobile robotic device is used to perform various actions. Namely, in a tracking mode, a face detection method and the output from the color video camera is used to detect potential persons in an environment. In addition, a motion detection method and the output from the depth video camera is also used to detect potential persons in the environment. Detection results obtained using the face and motion detection methods are then fused and used to determine the location of one or more persons in the environment. Then, in a following mode, a mobile robotic device following method is used to follow a person whose location was determined in the tracking mode.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.