Person Following Robot Based on Real Time Single Object Tracking and RGB-D Image

The demand for intelligent robots is increasing rapidly with the advancement in technology. This paper presents an end-to-end approach for a person following robot. It would be a great help if robots could behave as a helping hand for humans in critical environments like industries, markets as well as in hospitals. Because of balanced accuracy and speed, Siamese trackers got great attention. Here we are using a single object tracker for a person following and Robot Operating System (ROS) for communication between various nodes. The Robot is equipped with a Microsoft Kinect sensor which will provide RGBD (Red Green Blue image and Depth image) image. Initially, this system utilizes a deep learning algorithm for single object tracking to track a person. Further, the system can calculate the centroid of the target person as well as the depth information. Finally, this data is given to the navigation module of the robot. This will control the robot's motion