Human Tracking by a Mobile Robot in Low Illumination Environment

Target tracking at a less illuminated environment is a tedious work. In this paper, Adaptive Enhancement algorithms are used as a pre-processing technique. The performance of these methods on real-time scenario has been tested and using Quality Metrix Parameter their usefulness is proved. Particle Filter Based Tracking [5] is used for the purpose of Target/Human Tracking. A mobile robot is used for tracking in low illumination. A robust Control system is required for the robot to efficiently follow the human using the computer vision algorithm. Hence, Linear Quadratic Integral (LQI) has been implemented on the system for velocity control. The velocity of the robot is monitored such that it doesn't crash into the target.