Low Level Detection and Tracking for Robust Following of a Single Person in Cluttered Environment

To deploy mobile robots in spaces that they will share with humans, mobile robots should have social navigation methods. One important feature to design such methods is the ability to follow a moving person. In this paper, we present how we detect and track a moving person that our mobile robot is following. A low level detection of the moving person followed, to detect the person independently of their position and orientation with respect to the mobile robot, is combined with a sliding window approach to track the moving person. Some experimental results show the robustness of the method on real scenarios.