To provide an autonomous moving robot used for guidance and its control method capable of carrying out guidance simply and accurately without discomfort by extracting reliably the characteristic of a guided-person.
A guided-person detecting computer B is equipped with: a image pickup means 1 for imaging the surrounding of itself with a camera, etc., a characteristic extracting computing device 3 for identifying a guided-person 2 from images picked up with the image pickup means 1 by extracting the appearance characteristics of persons existing around itself, a characteristic region tracking computing part 5 for tracking the variation of a characteristic region 4a which is extracted from images picked up any time, for identifying the guided-person 2 using the characteristic extracting computing device 3, due to the moving of the guided-person 2, by comparing with a characteristic region 4b on an image picked up most recently, and a guided-person position deriving calculate device 6 for deriving the position of the guided-person 2 with the characteristic region tracking computing part 5.
COPYRIGHT: (C)2004,JPO
Hitoshi Kitano
Lumea Olivier
Yukihiko Kitano
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