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Autonomous Person-following Telepresence Robot Using Monocular Camera And Deep Learning Yolo

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dc.contributor.authorAhmad Amin Firdaus Sakri
dc.contributor.authorIzzuddin Mat Lazim
dc.contributor.authorSuffian At-Tsauri Mauzi
dc.contributor.authorMusab Sahrim
dc.contributor.authorLiyana Ramli
dc.contributor.authorAminurrashid Noordin
dc.date.accessioned2024-07-13T14:39:04Z
dc.date.available2024-07-13T14:39:04Z
dc.date.issued2024
dc.date.submitted2024-7-10
dc.descriptionApplications of Modelling and Stimulation, Volume 8, Page (101–109)
dc.description.abstractTelepresence robots (TRs) are increasingly important for remote communication and collaboration, particularly in situations where physical presence is not possible. One key feature of TRs is person-following, which relies on the detection and distance estimation of individuals. This study proposes an autonomous person-following TR using a monocular camera and deep-learning YOLO for person detection and distance estimation. To compensate for the monocular camera's inability to provide depth information, a novel distance estimation algorithm based on focal length and person width is introduced. The estimated width information of the detected person is extracted from the bounding box generated by YOLO. A pre-trained model using the MS COCO dataset is employed with YOLO for the person detection task. For robot movement control, a region-based controller is proposed to enable the robot to move based on the detected person's location in the image captured by the camera. Finally, integration and deployment of the proposed method in the TR is carried out using the Robot Operating System (ROS). Experimental results demonstrate that the TR can successfully follow a person using the proposed algorithm, thus highlighting its effectiveness for person-following tasks.
dc.identifier.citationAhmad Amin Firdaus Sakri , Izzuddin Mat Lazim, Suffian At-Tsauri Mauzi , Musab Sahrim , Liyana Ramli and Aminurrashid Noordin Autonomous Person-Following Telepresence Robot Using Monocular Camera and Deep Learning YOLO. (2024). Applications of Modelling and Stimulation, 8, 101–109.
dc.identifier.epage109
dc.identifier.issn2600-8084
dc.identifier.issue2024 (Jan)
dc.identifier.other2394-14
dc.identifier.spage101
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/20487
dc.identifier.urihttp://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/574
dc.identifier.volume8
dc.language.isoen_US
dc.publisherARQII Publication
dc.relation.ispartofApplications of Modelling and Simulation
dc.relation.issn2600-8084
dc.relation.journalApplications of Modelling and Stimulation
dc.subjectPerson following
dc.subjectService robot
dc.subjectTelepresence robot
dc.subjectYou Only Look Once (YOLO)
dc.titleAutonomous Person-following Telepresence Robot Using Monocular Camera And Deep Learning Yolo
dc.typetext::journal::journal article
dspace.entity.typePublication
oaire.citation.endPage109
oaire.citation.startPage101
oaire.citation.volume8
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliation#PLACEHOLDER_PARENT_METADATA_VALUE#

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