E&CSE Research Seminar, Wednesday 01 - August - 2007

Abstract:

In this talk I will first briefly review several projects of the Intelligent Machines and Systems Laboratory California State University , San Diego . I will then discuss one of these projects entitled above.  The project develops a method for the detection of a person from the environment by a vision system, and tracking and following the person by a robot equipped with a camera.  The person detection is achieved by a technique using color and shape recognitions.  Based on the features provided by the vision system, a fuzzy control scheme is proposed for tracking the person.  Four quantities are controlled, namely, camera pan and tilt, and robot speed and steering.  The software consists of several components for image processing, low level motor control and high level fuzzy control.  The results of person following are provided for indoor and outdoor environments using an all-terrain rover on which an articulated camera and a lap top computer are mounted.  These trials include passage through labs and hallways, moving up steep and winding dirt trails, traversal over rocky terrain, and person following with incomplete image and partial occlusion.

About the Speaker:

Dr.  Tarokh is a professor of computer science at California State University , San Diego (SDSU), and the director of Intelligent Machines and Systems Laboratory (http://www-rohan.sdsu.edu/~tarokh/lab/).  Prior to joining SDSU he held academic positions at University of Colorado , University of New Mexico , U.S.A. ; and Sharif University , Iran .  His areas of interest include robot motion planning, and rover kinematics and control.  He has published over 90 papers, many in IEEE Transactions and conferences.  He has received grants from several U.S. agencies and companies, most notably NASA, NSF and Lockheed-Marti.  He is also a recipient of NASA Class One Innovator award