Omni-directional vision based tracking and guiding system for walking assistant robot

Abstract

This paper provides a novel WAR(Walking Assistant Robot) which only uses ODVS (Omni-Directional Vision System) as its main sensor to implement the task of Tracking and Guiding. We use Blob Detection and Camshift Algorithm to track, and use APF(Artificial Potential Fields) approach to guide. The experiments show that those methods have high precision and good robustness, and also show the advantages of the wide view field and low cost of the ODVS. © 2010 Springer-Verlag Berlin Heidelberg.