Nicola Sestu
Design of an autonomous system able to follow a moving person.
Rel. Marco Vacca. Politecnico di Torino, Master of science program in Mechatronic Engineering, 2021
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Abstract
In this thesis the idea is to create a cart that automatically follows a specific human, this idea can be applied for example inside super markets. To do this I have tried some techniques and technologies that can be used to build a robot able to automatically follow a human. The initial goal was to build a subsystem that does not move but that was capable to identify and follow a person using a camera able to move. The first version of this subsystem included a raspberry pi 2b with a raspberry pi camera module V1, moved by a 2DOF hat controlled by the raspberry, using Tensorflow lite and OpenCV for computer vision and image recognition I obtained performances of 1fps, after upgrading the system with the NCS2 that is an accelerator for neural networks from intel I obtained a speed of 4fps using Openvino.
It was necessary to change the hardware, the second version of the subsystem lead us to use a raspberry pi 4b with the NCS2 and a raspberry pi camera module V2, gaining results around 20fps, so an application that was 20 times more powerful than the first idea
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