We address the problem of detecting and tracking people with a mobile robot. The need for following a person with a mobile robot arises in many different service robotic applications. The main problems of this task are realtime-constraints, a changing background, varying illumination conditions and a non-rigid shape of the person to be tracked. The presented system has been tested extensively on a mobile robot in our everyday office environment.
Keywords:
Person Following, Visually Guided Robot, Blob Tracking, Contour Matching
