Open Access Open Access  Restricted Access Subscription Access

Human Motion Tracking and Measurement by a Mobile Robot

Myagmarbayar Nergui


Our ultimate goal is to develop autonomous mobile home healthcare and rehabilitation robots which closely monitor and evaluate the patients’ motor function, and their at-home training therapy process, providing automatically calling for medical personnel in emergency situations. The robots to be developed will bring about cost-effective, safe and easier at-home rehabilitation to most motor-function impaired patients (MIPs), and meanwhile, relieve therapists from great burden in canonical rehabilitation. In this study, we have developed control algorithms for a mobile robot to track and follow human by 3 different viewpoints: side view, front view and middle angle of human, and algorithms for  measurements of knee angle. The accuracy of joint measurement was also investigated. Due to the skeleton point mixing-up and frame flying, the error was very big. However, after applying a colored mark compensation algorithm, the error could be corrected to a certain extent. This shows the feasibility of joint trajectory measurement through the mobile robots in real time and in a broad indoor environment.

Full Text:



Nobutaka Hirai and Hiroshi Miroguchi, “Visual Tracking of Human Back and Shoulder for Person-Following Robot,” in Proc. of the 2003 IEEE/ASME International conference on Advanced Intelligent Mechatronics, pp. 527-532, 2003.

Takashi Yoshimi, and Manabu Nishiyama,et al, “Development of a Person Following Robot with Vision Based Target Detection,” in Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 5286-5291, 2006.

H. Kwon, Y. Yoon, J. B. Park, et al, “Person tracking with a mobile robot using two uncalibrated independently moving cameras,” in IEEE International Conference on robotics and Automation, Barcelona, Spain, pp. 2877-2883, 2005.

Meenakshi Gupta, Laxmidher Behera, et al, “A Novel Approach of Human Motion Tracking with the Mobile Robotic Platform” 13th International Conference on Modelling and Simulation, UKSim, 2011.

A. Fod, A. Howard, and M. J. Mataric, “Laser based people tracking,” in Proc. of the IEEE International Conference on Robotics & Automation (ICRA), Washington, DC, United States, pp.3024-3029, 2002.

J. S. Cui, H. B. Zha, and H. J. Zhao, et al, “Laser-based interacting people tracking using multi-level observations,” in Proc. of the IEEE International Conference on Intelligent Robots and System, Beijing, China, pp.695-701, 2006.

M. Scheutz, J. McRaven, and G. Cserey, “Fast, reliable, adaptive, bimodal people tracking for indoor environments,” in Proc. of the 2004 IEEE/RSJ Int.l Conf. on Intelligent Robots and Systems (IROS’04), Sendai, Japan, vol.2, pp. 1347-1352, 2004.

J. Fritsch, M. Kleinehagenbrock, S. Lang, et al, “Audiovisual person tracking with a mobile robot,” in Proc. Int. Conf. on Intelligent Autonomous Systems, F. G. et al., Ed. Amsterdam: IOS Press, pp. 898-906, 2004.

Ren C. Luo, Chien H. Huang and Tsu T. Lin, “Human Tracking and Following Using Sound Source Localization for Multisensor Based Mobile Assistive Companion Robot”, pp.1552-1557, 2010.

Xudong Ma, Chunhua Hu, Xianzhong Dai, Kun Qian, “Sensor Integration for Person Tracking and Following with Mobile Robot” in Proc. of the 2008 IEEE/RJS Int.l Conf. on Intelligent Robots and Systems, Nice, France, pp3254-3259, 2008.

Chunhua Hu, Xudong Ma, Xianzhong Dai, “Reliable person following approach for mobile robot in indoor environment” in Proc. of the Eighth International Conference on Machine Learning and Cybernetics, Baoding,

pp1815-1821, 2009.

Joao Cunha and Eurico Pedrosa, et al, “Using a Depth Camera for Indoor Robot Localization and Navigation”, in Robotics Science and Systems (RSS) conference 2011, on Campus at the University of Southern California, poster presentation P5, 2011.

Joydeep Biswas and Manuela Veloso, “Depth Camera based Localization and Navigation for Indoor Mobile Robots”,, 2011.



  • There are currently no refbacks.