CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Mean Shift: A Robust Approach Toward Feature Space Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Bilateral Filtering for Gray and Color Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Robust Real-Time Face Detection
International Journal of Computer Vision
Robust Face Tracking Using Bilateral Filtering
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Theoretical and Methodological Issues
HRP-2W: A humanoid platform for research on support behavior in daily life environments
Robotics and Autonomous Systems
Joint Detection and Tracking of Time-Varying Harmonic Components: A Flexible Bayesian Approach
IEEE Transactions on Audio, Speech, and Language Processing
Binocular stereo vision system for a humanoid robot
International Journal of Computer Applications in Technology
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This paper introduces a mobile humanoid robot platform able to execute various services for humans in their everyday environments. For service in more intelligent and varied environments, the control system of a robot must operate efficiently to ensure a coordinated robot system. We enhanced the efficiency of the control system by developing a dual-network control system. The network system consists of two communication protocols: high-speed IEEE 1394, and a highly stable Controller Area Network (CAN). A service framework is also introduced for the coordinated task execution by a humanoid robot. To execute given tasks, various sub-systems of the robot were coordinated effectively by this system. Performance assessments of the presented framework and the proposed control system are experimentally conducted. MAHRU-M, as a platform for a mobile humanoid robot, recognizes the designated object. The object's pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. A unique approach is used to solve the human-like arm inverse kinematics, allowing the control system to generate smooth trajectories for each joint of the humanoid robot. A mean-shift algorithm using bilateral filtering is also used for real-time and robust object tracking. The results of the experiment show that a robot can execute its services efficiently in human workspaces such as an office or a home.