Implementation of Object Following Method on Robot Service

This paper describes about the implementation of the procedure to follow object, in this case a human, using a Turtlebot equipped with depth camera and RGB camera. The procedure consists of several steps. First, the stream of images is captured by the camera, then the images are processed to differentiate the human from the background. The next step is determining the position of the human. The position will then be included in the calculation to determine the distance between the human and the robot. Afterward, the robot will move based on the obtained distance. The object following procedure that use HOG method to detect a human has been successfully implemented and tested to 3 different persons.