Accurate and Real-Time 3-D Tracking for the Following Robots by Fusing Vision and Ultrasonar Information

Wang, M; Liu, Y; Su, D; Liao, Y; Shi, L; Xu, J; Valls Miro, J

Accurate and Real-Time 3-D Tracking for the Following Robots by Fusing Vision and Ultrasonar Information

Wang, M Liu, Y Su, D Liao, Y Shi, L

Xu, J Valls Miro, J

Permalink

Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2018, 23 (3), pp. 997 - 1006
Issue Date:: 2018-06-01

Closed Access

	Filename	Description	Size
	08327519.pdf	Published Version	1.23 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Wang, M	en_US
dc.contributor.author	Liu, Y	en_US
dc.contributor.author	Su, D	en_US
dc.contributor.author	Liao, Y	en_US
dc.contributor.author	Shi, L https://orcid.org/0000-0002-5215-025X	en_US
dc.contributor.author	Xu, J	en_US
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.date.issued	2018-06-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2018, 23 (3), pp. 997 - 1006	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/129572
dc.description.abstract	© 1996-2012 IEEE. Acquiring the accurate three-dimensional (3-D) position of a target person around a robot provides valuable information that is applicable to a wide range of robotic tasks, especially for promoting the intelligent manufacturing processes of industries. This paper presents a real-time robotic 3-D human tracking system that combines a monocular camera with an ultrasonic sensor by an extended Kalman filter (EKF). The proposed system consists of three submodules: a monocular camera sensor tracking module, an ultrasonic sensor tracking module, and the multisensor fusion algorithm. An improved visual tracking algorithm is presented to provide 2-D partial location estimation. The algorithm is designed to overcome severe occlusions, scale variation, target missing, and achieve robust redetection. The scale accuracy is further enhanced by the estimated 3-D information. An ultrasonic sensor array is employed to provide the range information from the target person to the robot, and time of flight is used for the 2-D partial location estimation. EKF is adopted to sequentially process multiple, heterogeneous measurements arriving in an asynchronous order from the vision sensor, and the ultrasonic sensor separately. In the experiments, the proposed tracking system is tested in both a simulation platform and actual mobile robot for various indoor and outdoor scenes. The experimental results show the persuasive performance of the 3-D tracking system in terms of both the accuracy and robustness.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2018.2820172	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Accurate and Real-Time 3-D Tracking for the Following Robots by Fusing Vision and Ultrasonar Information	en_US
dc.type	Journal Article
utslib.citation.volume	3	en_US
utslib.citation.volume	23	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.issue	3	en_US
pubs.publication-status	Published	en_US
pubs.volume	23	en_US

Abstract:

© 1996-2012 IEEE. Acquiring the accurate three-dimensional (3-D) position of a target person around a robot provides valuable information that is applicable to a wide range of robotic tasks, especially for promoting the intelligent manufacturing processes of industries. This paper presents a real-time robotic 3-D human tracking system that combines a monocular camera with an ultrasonic sensor by an extended Kalman filter (EKF). The proposed system consists of three submodules: a monocular camera sensor tracking module, an ultrasonic sensor tracking module, and the multisensor fusion algorithm. An improved visual tracking algorithm is presented to provide 2-D partial location estimation. The algorithm is designed to overcome severe occlusions, scale variation, target missing, and achieve robust redetection. The scale accuracy is further enhanced by the estimated 3-D information. An ultrasonic sensor array is employed to provide the range information from the target person to the robot, and time of flight is used for the 2-D partial location estimation. EKF is adopted to sequentially process multiple, heterogeneous measurements arriving in an asynchronous order from the vision sensor, and the ultrasonic sensor separately. In the experiments, the proposed tracking system is tested in both a simulation platform and actual mobile robot for various indoor and outdoor scenes. The experimental results show the persuasive performance of the 3-D tracking system in terms of both the accuracy and robustness.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/129572