Human motion tracking of mobile robot with Kinect 3D sensor

Eiji Machida, Meifen Cao, Toshiyuki Murao, Hiroshi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

56 Citations (Scopus)

Abstract

This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3D position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human's motion state. The mobile robot is controlled to track the moving human in the view of Kinect. The experimental verification result is reported in this paper.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2207-2211
Number of pages5
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita
Duration: 2012 Aug 202012 Aug 23

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CityAkita
Period12/8/2012/8/23

Keywords

  • 3D sensor
  • human motion tracking
  • Kalman filter
  • Kinect
  • mobile robot

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

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  • Cite this

    Machida, E., Cao, M., Murao, T., & Hashimoto, H. (2012). Human motion tracking of mobile robot with Kinect 3D sensor. In Proceedings of the SICE Annual Conference (pp. 2207-2211). [6318381]