Autonomous Robotic Following Using Vision Based Techniques

Abstract

The Intelligent Systems And Autonomous Controls (ISAAC) robot is an experimental autonomous research platform being developed to advance current dismount following applications. Specifically, vision based following using pedestrian detection. The current standard in mule applications is the following of GPS waypoints. ISAAC is designed to follow a specific person using solely vision based techniques. The core of the vision based algorithms used in this application is based on years of research from a collaboration of government and university partners. Stereo vision techniques determine a person, identify them as the leader, and map a path for autonomous following. This paper focuses on the initialization of these algorithms and the control scheme used to implement them on a real-world platform.

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Document Details

Document Type
Technical Report
Publication Date
Apr 18, 2006
Accession Number
ADA465875

Entities

People

  • Mike Del Rose
  • Phil A. Frederick
  • Robert T. Kania

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Availability
  • Classification
  • Computer Stereo Vision
  • Contracts
  • Detection
  • Governments
  • Information Operations
  • Instructions
  • Intelligent Systems
  • Monitoring
  • Platforms
  • Security
  • Standards
  • Teamwork

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers