Human-tracking method and robot apparatus for performing the same

摘要

Provided are a human-tracking method and a robot apparatus. The human-tracking method includes receiving an image frame including a color image and a depth image, determining whether user tracking was successful in a previous image frame, and determining a location of a user and a goal position to which a robot apparatus is to move based on the color image and the depth image in the image frame, when user tracking was successful in the previous frame. Accordingly, a current location of the user can be predicted from the depth image, user tracking can be quickly performed, and the user can be re-detected and tracked using user information acquired in user tracking when detection of the user fails due to obstacles or the like.

主权项

1. A human-tracking method performed by a robot apparatus, comprising:
receiving an image frame including a color image and a depth image; determining whether user tracking was successful in a previous image frame; determining a location of a user and a goal position to which a robot apparatus is to move based on the color image and the depth image in the image frame, when user tracking was successful in the previous frame, controlling a movement of the robot apparatus; detecting the user in the image frame and determining the location of the user and the goal position to which the robot apparatus is to move, when user tracking failed in the previous frame; and determining a most recently set goal position as the goal position to which the robot apparatus is to move, when detection fails, wherein detecting the user includes: detecting at least one human being from the color image and the depth image and detecting the user based on color information and height information of the user from the detected at least one human being; and storing tracking information and determining the determined location of the user as the goal position to which the robot apparatus is to move, when detection succeeds.