The goal of this work is to make a robot able to track a person as both the robot and the person move. The user of the system provides to the robot the initial location of the human in the filed of view of a panoramic camera. Then, the robot tracks the human by matching color information within consecutive frames in time. Color information is computed for the head, body and legs of the human. Moreover the spatial relations of these regions are monitored.
You may download a video (2,7 Mbytes) showing a person being tracked by the robotic wheelchar. Notice that the person remains trackable even though at some time it is occluded by another moving person. You may download another video(4,2 Mbytes) which shows the same results with the difference being that panoramic image frames are unfolded and therefore, results are more intuitive.
