Figure 3
From: Human tracking with an infrared camera using a curve matching framework
Experimental setup. (a) The infrared image obtained by the robot is thresholded to include only the salient parts of the image. (b) The relative angle with respect to the camera is measured. (c) The rotating action of the robot in the experiment. A sequence of frames where the human moves from right to left, and the robot is adjusted by the corresponding angle to bring the human back into the center of the frame.