Abstract
The autonomous navigation capabilities of mobile robots is a social and technological issue.Many potential applications add to the importance of human following technology.Some of the applications include museum guide robots and service robots at shopping center.In this paper,we propose the detection and tracking schemes for human legs by the use of a camera.The robust tracking of humans is achieved by exploiting a human walking model.The leg detection and tracking schemes are realized by the combined application of support vector data description algorithm and a wheeled mobile robot.The proposed scheme is successfully verified in real time environments. Index term: Human following, Human-robot interaction,Leg detection,Mobile robot navigation,SVDD algorithm.
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