Human-tracking system using quadrotors and multiple environmental cameras for face-tracking application

Author:

Srisamosorn Veerachart1ORCID,Kuwahara Noriaki2,Yamashita Atsushi1,Ogata Taiki3,Ota Jun3

Affiliation:

1. Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan

2. Graduate School of Science and Technology, Kyoto Institute of Technology, Sakyo-ku Kyoto, Japan

3. Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, Kashiwanoha, Chiba, Japan

Abstract

In this article, a system for tracking human’s position and orientation in indoor environment was developed utilizing environmental cameras. The system consists of cameras installed in the environment at fixed locations and orientations, called environmental cameras, and a moving robot which mounts a camera, called moving camera. The environmental cameras detect the location and direction of each person in the space, as well as the position of the moving robot. The robot is then controlled to move and follow the person’s movement based on the person’s location and orientation, mimicking the act of moving camera tracking his/her face. The number of cameras needed to cover the area of the experiment, as well as each camera’s position and orientation, was obtained by using particle swarm optimization algorithm. Sensor fusion among multiple cameras is done by simple weighted averaging based on distance and knowledge of the number of robots being used. Xbox Kinect sensors and a miniature quadrotor were used to implement the system. The tracking experiment was done with one person walking and rotating in the area. The result shows that the proposed system can track the person and quadrotor within the degree of 10 cm , and the quadrotor can follow the person’s movement as desired. At least one camera was guaranteed to be tracking the person and the quadrotor at any time, with the minimum number of two for tracking the person and only a few moments that only one camera was tracking the quadrotor.

Funder

Japan Society for the Promotion of Science

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Cited by 12 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Comprehensive Survey on Human Motion Tracking System;2023 2nd International Conference on Automation, Computing and Renewable Systems (ICACRS);2023-12-11

2. Fully Onboard Single Pedestrian Tracking on Nano-UAV Platform;Journal of Intelligent & Robotic Systems;2023-10-26

3. Solving Tracking Challenges: Lightweight Algorithm for Single Pedestrian Tracking on Nano-UAVs;2023 IEEE 16th International Conference on Electronic Measurement & Instruments (ICEMI);2023-08-09

4. Training Multilayer Neural Networks Analytically Using Kernel Projection;2021 IEEE International Symposium on Circuits and Systems (ISCAS);2021-05

5. Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments;IEEE/CAA Journal of Automatica Sinica;2021-02

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