ABSTRACT A combination of fixed fisheye camera system and a blimp performed the task of human following in an indoor environment in this paper, focusing on tracking the subject's face. Hierarchical control algorithm is used to combine information from fisheye cameras and blimp's camera to track the face to handle common human's translation and rotation movements. In this way, even when the face is not visible in the blimp's camera, the relative position between the blimp and the person is still available from fisheye cameras. The blimp can be controlled to move closer to the face, where it should be detectable. If the face can be detected and matched with the position of the person, the blimp can use it to adjust its position for a better track of the face. An experiment was conducted inside an office environment to demonstrate human following behavior of the blimp. With the face invisible to the blimp's camera 34.6 % of the experiment time, it could still move to recover the track of the face, using information from the fisheye cameras. GRAPHICAL ABSTRACT

中文翻译：

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使用环境鱼眼镜头和飞艇跟踪室内人脸

摘要 本文采用固定鱼眼相机系统和飞艇的组合在室内环境中执行人类跟随任务，重点是跟踪对象的面部。分层控制算法用于结合来自鱼眼相机和飞艇相机的信息来跟踪面部以处理普通人的平移和旋转运动。这样，即使面部在飞艇的相机中不可见，飞艇和人之间的相对位置仍然可以从鱼眼相机中获得。可以控制飞艇靠近脸部，在那里应该可以检测到。如果可以检测到面部并将其与人的位置匹配，则飞艇可以使用它来调整其位置以更好地跟踪面部。在办公室环境中进行了一项实验，以演示飞艇的人类跟随行为。在 34.6% 的实验时间内，飞艇的相机无法看到脸部，它仍然可以使用鱼眼相机的信息移动以恢复脸部的轨迹。图形概要