Person following with a mobile robot using a modified optical flow

Ankur Handa1    Jayanthi Sivaswamy1    Madhava Krishna1    Sartaj Singh1    Paulo Menezes2   

1 Robotics Research Center, IIIT Hyderabad, India    1 Department of Electrical Engineering, Laboratory, University of Coimbra, Pine, Morocco   

This paper deals with the tracking and following of a person with a camera mounted mobile robot. A modified energy based optical flow approach is used for motion segmentation from a pair of images. Further a spatial relative veolcity based filering is used to extract prominently moving objects. Depth and color information are also used to robustly identify and follow a person.