Human pose recognition and tracking using RGB-D camera

In this work, we address the problem of human body pose recognition using RGB-D sensor, to perform user tracking by a mobile robot. User's skeleton joints orientations are used in this approach to compute torso joint orientation, which is necessary to distinguish the four poses: Face, Back, Right of Left. In addition, a face recognition method is used to re-identify user when lost from camera field of view. Experiments were carried out to validate proposed methods, and obtained results show that targeted user following can be achieved successfully.