公开(公告)号：US09201425B2

公开(公告)日：2015-12-01

申请号：US14021983

申请日：2013-09-09

Applicant: Electronics and Telecommunications Research Institute

Inventor： Young Woo Yoon ,  Do Hyung Kim ,  Woo Han Yun ,  Ho Sub Yoon ,  Jae Yeon Lee ,  Jae Hong Kim ,  Jong Hyun Park

IPC: G05B15/00 ,  G05B19/00 ,  G05D1/02 ,  G06K9/00 ,  G06T7/20

CPC classification number: G05D1/0231 ,  G05D1/0248 ,  G06K9/00342 ,  G06T7/20 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30196

Abstract: Provided are a human-tracking method and a robot apparatus. The human-tracking method includes receiving an image frame including a color image and a depth image, determining whether user tracking was successful in a previous image frame, and determining a location of a user and a goal position to which a robot apparatus is to move based on the color image and the depth image in the image frame, when user tracking was successful in the previous frame. Accordingly, a current location of the user can be predicted from the depth image, user tracking can be quickly performed, and the user can be re-detected and tracked using user information acquired in user tracking when detection of the user fails due to obstacles or the like.

Abstract translation: 提供了人类跟踪方法和机器人装置。 人体跟踪方法包括接收包括彩色图像和深度图像的图像帧，确定用户跟踪在先前图像帧中是否成功，以及确定用户的位置和机器人装置要移动的目标位置 基于图像帧中的彩色图像和深度图像，当用户跟踪在前一帧中成功时。 因此，可以从深度图像预测用户的当前位置，可以快速执行用户跟踪，并且可以使用用户跟踪中获取的用户信息来重新检测和跟踪用户，当用户的检测由于障碍物或者 类似。