The study of a vision-based pedestrian interception system

Authors:
Wanfeng He;Yongchun Fang;Xuebo Zhang
Affiliations:
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China;Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China;Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

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Abstract

This paper designs a vision-based pedestrian interception system with a mobile robot, which can be potentially utilized in such applications as service robots. Specifically, by employing the Histograms of Oriented Gradients(HOG), together with some Edge Detection (ED) method, we first propose a novel HOG-ED approach to detect a human being from the series of acquired images accurately, based on which the depth information is successfully extracted on the basis of some geometrical analysis. After that, a two-level vision-based control scheme integrating depth extraction is presented to drive a mobile robot to intercept the pedestrian. The accuracy of the proposed depth estimation method and the interception controller are validated through experimental results.