Autonomous human tracking of multiple robotic lamps

Abstract

This paper proposes an automatic lighting system using multiple 3-DOF robotic lamps. The robotic lamp is a spherical type parallel mechanism with a unique forward kinematic solution. In order to minimize the dynamic load, three motors are installed at the base frame and a counter balancing design is performed. Using the coordinate transformation between the environment coordinate and the robot coordinate, the position data of the human is converted to three output angles of the robotic lamp. Positions of people are measured by a laser scanner, and in order to track the positions of people accurately by multiple robotic lamps, the Kalman filter algorithm and a data association algorithm were applied. In experiment, three robotic lamps were employed to track three people independently. For each lamp, two tilting angles are controlled for a localized light and the zoom mechanism is employed to control the intensity of the light.

Design and Implementation of Android-Based Autonomous Human Tracking Vehicle

“…Human tracking can be realized with many tools such as a camera, a laser scanner, a PIR sensor, an ultrasonic sensor, a position sensing device (PSD), and similar mechanisms. Using a laser scanner for human tracking can be conducted with coordinate transformation between the environment coordinate and the robot coordinate [1]. When the disparity image is obtained from a stereo camera and the Hu moment is used as a human detecting algorithm, an extended Kalman Filter can be used and high performance can be supplied [2].…”