Publications

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Search for Publication


Year(s) from:  to 
Author:
Keywords (separated by spaces):

Leader Tracking for a Walking Logistics Robot

Michal Perdoch and David M. Bradley and Jonathan K. Chang and Herman Herman and Peter Rander and Anthony Stentz
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Hamburg, October 2015

Abstract

A key challenge of developing robots that work closely with people is creating a user interface that allows a user to communicate complex instructions to a robot quickly and easily. We consider a walking logistics support robot, which is designed to carry heavy loads to locations that are too difficult to reach with a wheeled or tracked vehicle. In this application the robot is carrying equipment and supplies for a group of pedestrians, and the primary task for the user interface is to keep the robot traveling with the overall group in the right formation. This paper presents a marker tracking system that uses near infrared cameras, retro-reflective markers, and LIDAR to allow a particular user to designate himself as the robot's leader, and guide the robot along a desired path. We provide an extensive quantitative evaluation to show that the proposed system is able to detect and track a leader through unconstrained and cluttered off-road environments under a wide variety of illumination and motion conditions.


Download in pdf format
@InProceedings{eth_biwi_01223,
  author = {Michal Perdoch and David M. Bradley and Jonathan K. Chang and Herman Herman and Peter Rander and Anthony Stentz},
  title = {Leader Tracking for a Walking Logistics Robot},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2015},
  month = {October},
  pages = {2994--3001},
  publisher = {IEEE},
  keywords = {tracking, lidar, infrared camera, offroad}
}