Abstract
In
this article, a system for tracking human’s position and orientation in
indoor environment was developed utilizing environmental cameras. The
system consists of cameras installed in the environment at fixed
locations and orientations, called environmental cameras, and a moving
robot which mounts a camera, called moving camera. The environmental
cameras detect the location and direction of each person in the space,
as well as the position of the moving robot. The robot is then
controlled to move and follow the person’s movement based on the
person’s location and orientation, mimicking the act of moving camera
tracking his/her face. The number of cameras needed to cover the area of
the experiment, as well as each camera’s position and orientation, was
obtained by using particle swarm optimization algorithm.