Fusing Skeleton Recognition With Face-TLD for Human Following of Mobile Service Robots

作者：Jing Yuan, Jingxin Cai, Xuebo Zhang, Qinxuan Sun, Fengchi Sun, Wenbin Zhu · 发表于：IEEE Transactions on Systems Man and Cybernetics Systems · 年份：2019 · DOI：10.1109/tsmc.2019.2921974 · 被引用次数：14 · 研究领域：Video Surveillance and Tracking Methods、Gait Recognition and Analysis、Human Pose and Action Recognition

Target recognition is a challenging task for human following of mobile service robots. In this paper, we combine the principal-component-analysis (PCA)-based face recognition with the tracking-learning-detection applied to the human face (Face-TLD) to obtain an improvement, named as IFace-TLD. The proposed IFace-TLD can significantly improve the discrimination ability of the Face-TLD for ambiguous facial appearances. To further deal with motion uncertainties of the human head, especially the sudden motion change, which makes face-based target recognition methods unstable or even loses the target, a skeleton-based model is introduced to improve the accuracy and robustness of the target recognition. Specifically, within a walk half-cycle, the skeleton features are extracted from the upper-body three-dimensional skeleton coordinates. Then, the extracted skeleton features are fed into the support vector data description (SVDD) to identify the target person when the IFace-TLD becomes invalid. The seamless fusion of the skeleton recognition and the IFace-TLD, named as the SIFace-TLD, significantly enhances the robustness in complex scenarios, especially for people tracking from both front and behind. To achieve a complete human following system, the particle filter (PF) is adopted for estimating the state of the human motion. And then, a controller is designed to maintain the relative position between the robot and the target. Experimental results demonstrate that the proposed IFac...