Autonomous person-specific following robot

Wesley P. Chan, Zhao Quan Hew, Elizabeth Croft, Sina Radmard, Jon Morris, H. F.Machiel van der Loos

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch


Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In this paper, we proposed an identity-specific person tracker, capable of tracking and identifying nearby people, to enable person-specific following. Our proposed method uses a Sequential Nearest Neighbour with Thresholding Selection algorithm we devised to fuse together an anonymous person tracker and a face recogniser. Experiment results comparing our proposed method with alternative approaches showed that our method achieves better performance in tracking and identifying people, as well as improved robot performance in following a target individual.

Original languageEnglish
Title of host publicationACRA 2020 Proceedings
EditorsPaulo Borges
Place of PublicationChristchurch NZ
PublisherAustralian Robotics and Automation Association (ARAA)
Number of pages9
Publication statusPublished - 2020
EventAustralasian Conference on Robotics and Automation 2020 - CSIRO’s Queensland Centre for Advanced Technologies (QCAT), Brisbane, Australia
Duration: 8 Dec 202010 Dec 2020

Publication series

NameAustralasian Conference on Robotics and Automation, ACRA
Publisher Australian Robotics and Automation Association (ARAA)
ISSN (Print)1448-2053


ConferenceAustralasian Conference on Robotics and Automation 2020
Abbreviated titleACRA 2020
Internet address

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