Real-time color-based tracking via a marker interface

Presents a general architectural solution for concurrent real-time color-based tracking of multiple objects. The presented architecture, called Cocoa, is suggested for a mobile robot interacting with humans. The main contributions of the architecture are markers and color judges. Markers are a situa...

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Bibliographic Details
Main Authors: Pylkko, H., Riekki, J., Roning, J.
Format: Conference Proceeding
Language:English
Subjects:
Color
Control systems
Grasping
Head
Human robot interaction
Image processing
Image segmentation
Labeling
Mobile robots
Robot sensing systems
Online Access:Request full text
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Description
Summary:Presents a general architectural solution for concurrent real-time color-based tracking of multiple objects. The presented architecture, called Cocoa, is suggested for a mobile robot interacting with humans. The main contributions of the architecture are markers and color judges. Markers are a situated representation of the robot's environment. Color judges separate color-based segmentation methods from the process of labeling images. Furthermore, methodology for coping with objects entering and leaving the robot's field of view is suggested. Tracking experiments performed with a system implemented on a Nomad XR4000 robot are presented as well.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.932776