TRT Pose를 이용한 모바일 로봇의 사람 추종 기법
Development of Human Following Method of Mobile Robot Using TRT Pose
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초록
In this paper, we propose a method for estimating a walking direction by which a mobile robots follows a person using TRT (Tensor RT) pose, which is motion recognition based on deep learning. Mobile robots can measure individual movements by recognizing key points on the person's pelvis and determine the direction in which the person tries to move. Using these information and the distance between robot and human, the mobile robot can follow the person stably keeping a safe distance from people. The TRT Pose only extracts key point information to prevent privacy issues while a camera in the mobile robot records video. To validate the proposed technology, experiment is carried out successfully where human walks away or toward the mobile robot in zigzag form and the robot continuously follows human with prescribed distance.
Abstract
In this paper, we propose a method for estimating a walking direction by which a mobile robots follows a person using TRT (Tensor RT) pose, which is motion recognition based on deep learning. Mobile robots can measure individual movements by recognizing key points on the person's pelvis and determine the direction in which the person tries to move. Using these information and the distance between robot and human, the mobile robot can follow the person stably keeping a safe distance from people. The TRT Pose only extracts key point information to prevent privacy issues while a camera in the mobile robot records video. To validate the proposed technology, experiment is carried out successfully where human walks away or toward the mobile robot in zigzag form and the robot continuously follows human with prescribed distance.
참고문헌 (12)
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- A Development of Visual Human Tracking System for Path Guidance Robot, "S. Park", The Korean Institute of Electrical Engineers, 39~40 (2019)
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- R. Algabri, "Deep-learning-based Indoor Human Following of Mobile Robot Using Color Feature", Sensors, 20(2699), pp.1~19 (2020)
- 이승현, "QR 코드와 2D 라이다 센서를 이용한 모바일 로봇의 사람 추종 기법 개발", 대한임베디드공학회논문지, 15(1), pp.35~42 (2020), 대한임베디드공학회[DOI]