TY - JOUR
TI - Intelligent optimal control of thermal vision-based Person-Following Robot Platform
AU - Ćirić Ivan T
AU - Ćojbašić Žarko M
AU - Nikolić Vlastimir D
AU - Igić Tomislav S
AU - Turšnek Branko A. J
JN - Thermal Science
PY - 2014
VL - 18
IS - 3
SP - 957
EP - 966
PT - Article
AB - In this paper the supervisory control of the Person-Following Robot Platform  is presented. The main part of the high level control loop of mobile robot  platform is a real-time robust algorithm for human detection and tracking.  The main goal was to enable mobile robot platform to recognize the person in  indoor environment, and to localize it with accuracy high enough to allow  adequate human-robot interaction. The developed computationally intelligent  control algorithm enables robust and reliable human tracking by mobile robot  platform. The core of the recognition methods proposed is genetic  optimization of threshold segmentation and classification of detected regions  of interests in every frame acquired by thermal vision camera. The support  vector machine classifier determines whether the segmented object is human or  not based on features extracted from the processed thermal image  independently from current light conditions and in situations where no skin  color is visible. Variation in temperature across same objects, air flow with  different temperature gradients, person overlap while crossing each other and  reflections, put challenges in thermal imaging and will have to be handled  intelligently in order to obtain the efficient performance from motion  tracking system. [Projekat Ministarstva nauke Republike Srbije, br. TR35005]