Indoor Security Patrolling With Intruding Person Detection and Following Capabilities By Vision-Based Autonomous Vehicle Navigation

Abstract

A vision-based vehicle system for security patrolling by human detection and tracking in indoor environments is proposed. A vehicle with wireless control and a web camera is used as a test bed. A camera calibration method is proposed first by use of an angular mapping technique which is based on the concept of spherical coordinate system. Next, a human detection and tracking a human is proposed, which use a color feature of the face and that of the rough shape of the human body to recognize human beings. To track a target person, a clothes region intersection method is proposed to predict the motion of the person. In addition, a vehicle escape function is proposed, which is designed for the vehicle to move away from offensive strangers by a technique of safe distance keeping. Good experimental results show the feasibility of the proposed methods for the application of indoor security patrolling.