Method for tracking pedestrian by cooperating robot and mobile phone

A technology for mobile robots and pedestrians, applied in instruments, image data processing, computing and other directions, it can solve the problems of high algorithm complexity, loss of depth information, and the algorithm is greatly affected by illumination, and achieves the effect of wide application range and high accuracy.

Inactive Publication Date: 2013-10-09
NO 61 INST OF GENERAL STAFF +1
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AI Technical Summary

Problems solved by technology

However, the target tracking method based on the visual sensor also has many inherent defects, such as the algorithm is greatly affected by the light, the depth information is lost in the image imaging process, and the algorithm complexity is high, which makes the use effect in the case of occlusion, night and so on not good. satisfactory

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  • Method for tracking pedestrian by cooperating robot and mobile phone
  • Method for tracking pedestrian by cooperating robot and mobile phone

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] A method for cooperating between a mobile robot and a mobile phone to track pedestrians. The mobile robot and the mobile phone cooperate to track the pedestrians. It is characterized in that the tracking process is as follows:

[0041] (1) The inertial sensor integrated on the target person's mobile phone measures the movement of the target person and calculates its movement speed.

[0042] (2) Establish a coordinate system, and the mobile robot establishes a two-dimensional coordinate system with itself as the coordinate origin and the pedestrian on the same plane;

[0043] (3) To detect a candidate, the mobile robot detects the position of the surrounding pedestrians, takes the detected pedestrian as a candidate, and expresses the detection result in the coordinate system, and obtains the coordinate position of the candidate, assuming the number of detected ca...

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Abstract

The invention provides a method for tracking a pedestrian by cooperating a robot and a mobile phone. The pedestrian is tracked in the mode that the mobile robot is mutually cooperated with the mobile phone. Due to the fact that smart phones are popularized at present, the mobile phone carried by the pedestrian and the mobile robot are cooperated to complete a tracking task. According to the method, a specific person can be tracked through movement information of the person. The walking speed and the walking direction of the person can be calculated by the mobile phone according to measured data of an inertia sensor, and the information can be transmitted to the robot. The walking speeds and the walking directions of the nearby pedestrians are measured by the robot through a laser range finder of the robot or other devices, and the person meeting the movement characteristics of the target pedestrian is found. The method cannot be influenced by illumination and is wide in application range and high in accuracy.

Description

technical field [0001] The invention belongs to the field of information technology equipment, in particular to a method for tracking pedestrians in cooperation between a mobile robot and a mobile phone. Background technique [0002] The present invention studies the problem of a mobile service robot following a specific pedestrian. At present, pedestrian target tracking based on computer vision has been developed relatively maturely, and has been effectively applied in many occasions. However, the target tracking method based on the visual sensor also has many inherent defects, such as the algorithm is greatly affected by the light, the depth information is lost during the image imaging process, and the algorithm complexity is high, which makes the use effect not good in situations such as occlusion and nighttime. satisfactory. [0003] Due to the popularization of smart phones, the present invention cooperates with the mobile robot through the mobile phones carried by pe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 唐宏吴琳张杰徐勇军王海龙
Owner NO 61 INST OF GENERAL STAFF
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