Open Access Open Access  Restricted Access Subscription or Fee Access

Real-time Vision-based Robotic Person Following in Fast Walking

M. Tarokh, R. Shenoy


The paper proposes a real-time robotic person following using a combination of shape detection and color histogram matching with the adaptation of the search area. First the person’s head is detected in the image by applying edge detection and a modified Hough transform. Next the area under the head in the image is searched for the person’s shirt color characteristics, as well as detecting the torso with a super-ellipse shape model. The search area in the image for finding the person is adaptively expanded or contracted to ensure fast computation and low false detection. The proposed image processing techniques together with the adaptation achieves a reliable real-time system for fast person following. The system has been implemented on a Segway robotic platform and results are provided.


Person detection; robot vision; robotic person following

Full Text:



  • There are currently no refbacks.

Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.