This project focused on feature-based object recognition and tracking using a single camera for a target-following mobile robot. Robot controls are generated so as to maximise the chances of successfully detecting and tracking the object of interest while navigating.
This was a particular challenge at the time (2010 – before convnet fame) as object recognition approaches were extremely unreliable and moving cameras struggled with motion blur. This work was combined with LIDAR-based target tracking and obstacle avoidance to build the CSIR Autonomous Mule. Videos of the work and related publications are listed below.
Burke, Michael, and Willie Brink. “Estimating target orientation with a single camera for use in a human-following robot.“, Proceedings of the 21st Annual Symposium of the Pattern Recognition Association of South Africa (2010).
Burke, Michael. “Laser-Based Target Tracking using Principal Component Descriptors.”, Proceedings of the 21st Annual Symposium of the Pattern Recognition Association of South Africa (2010).
Burke, Michael, and Willie Brink. “Gain-scheduling control of a monocular vision-based human-following robot.” IFAC Proceedings Volumes 44.1 (2011): 8177-8182.
Burke, Michael Glen. Visual servo control for a human-following robot. Diss. Stellenbosch University, 2011.