A Review on the Application of RGBD Human Motion Capture in Human Motion Analysis and Mobile Robot Following Control
TL;DR
It is concluded that the combination of lightweight visual models and optimised control algorithms serves as a vital development direction to construct low-cost and highly reliable human-following robotic systems.
Abstract
Low-cost RGB-D sensorsenable practical human motion capture and robot following, key capabilities for service robotics and human-robot interaction. Unlike expensive, high-precision systems, RGB-D sensors offer affordability, easy deployment, and real-time performance, making them ideal for civil robotic applications. This paper reviews RGB-D-based human pose estimation, motion feature extraction, and mobile robot following control, centering on low-cost, deployable solutions. The research sorts out low-cost RGB-D sensor schemes, human pose estimation algorithms, motion feature extraction pipelines, and tracking control strategies for mobile robots. Existing bottlenecks are summarised, including deteriorated pose accuracy under occlusion, insufficient real-time performance of lightweight algorithms, and unstable following behaviours in complex surroundings. Based on a comprehensive survey of current literature, this study concludes that the combination of lightweight visual models and optimised control algorithms serves as a vital development direction to construct low-cost and highly reliable human-following robotic systems. Prospective research trends of integrated RGB-D motion capture and robot following platforms are further discussed, which can offer theoretical and engineering references for relevant follow-up investigations and practical deployments.