Yifan Xing

MSCV, CMU

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XRHex - A Person Following Robot

XRHex is a six spring legged robot. In this project, a person following mechanism is mounted onto XRHex using state-of-art object detector SSD and visual object tracker GOTURN. Filtering is implemented to smooth inter-frame tracking and detection result of human target. The underlying controller of the robot is implemented using libdynamism.

Video Demos:
Check out the repository on GitHub!