Predictive visual control network for occlusion solution in human-following robot

Abstract

PurposeThe purpose of this paper is to propose a new video prediction-based methodology to solve the manufactural occlusion problem, which causes the loss of input images and uncertain controller parameters for the robot visual servo control.Design/methodology/approachThis paper has put forward a method that can simultaneously generate images and controller parameter increments. Then, this paper also introduced target segmentation and designed a new comprehensive loss. Finally, this paper combines offline training to generate images and online training to generate controller parameter increments.FindingsThe data set experiments to prove that this method is better than the other four methods, and it can better restore the occluded situation of the human body in six manufactural scenarios. The simulation experiment proves that it can simultaneously generate image and controller parameter variations to improve the position accuracy of tracking under occlusions in manufacture.Originality/valueThe proposed method can effectively solve the occlusion problem in visual servo control.