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of Computer Engineering in Research Trends (IJCERT)

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International Journal of Computer Engineering in Research Trends. Scholarly, Peer-Reviewed,Open Access and Multidisciplinary

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Automated Human Following Trolley Using Image and Video Processing

B Honnaraju, H Hemanth Bharath Bhushan, L Hemanth Raj, T C Kishore, V Likhith
Department of CSE, Maharaja Institute of Technology Mysore, Visvesvaraya Technological University, Belagavi, India

In today's world, the trolleys are used in most places like a shopping mall, hospitals, colleges, etc., and everything is manually operated using their physical strength. This paper proposes an automated human following trolley using the image and video processing. The HSV value of the image taken from the camera will be calculated. If it matches the valid sticker's value, then the trolley will follow that person who has a specific sticker by maintaining a constant distance from that person. The distance estimation technique is used to calculate the distance between the user and the trolley. Background subtraction algorithm is used for recognition and detection purposes. The basic model of the following human trolley was designed, and it was tested under various lighting conditions and verified the correctness of background subtraction by keeping invalid stickers. The designed model was confined with a boundary like hospitals and shopping malls. The same approach with some improvements could be used in other fields like schools and colleges, libraries, agricultural fields, war fields, etc.

B Honnaraju, H Hemanth Bharath Bhushan, L Hemanth Raj, T C Kishore, V Likhith."Automated Human Following Trolley Using Image and Video Processing". International Journal of Computer Engineering In Research Trends (IJCERT), ISSN:2349-7084, Vol.7, Issue 07,pp.6-12, July - 2020, URL:,

Keywords : Video processing, HSV, background subtraction, distance estimation.

[1]. S N Joshi, V K patki, P S deekshith, H K baldhaar, “Design and Development of Human Following Trolley” International Journal of Innovative Science and Research Technology (IJISRT), Vol. 4, Issue. 4, PP 222-225, 2019.
[2] D Iravan, Misbha, J R Baihaqi, “Design of Human Followers Trolley Robot Based on Object Tracking (Colour Detection) Method”, International Journal of Engineering Research and Advanced Technology (IJERAT), Vol. 5, Issue. 3, PP 15-23, 2019.
[3] S Lokesh, J Antony, G Vijayalakshmi, “Trolley Followers for Hypermarkets”, International Journal of Advance Research and Innovative Ideas in Education (IJARIIE), Vol. 4, Issue. 2, PP 564-569, 2018.
[4] M Banusundareshwari, R Santosh Vishnu, G Goushik, S Prakash, S Arvinth, “Automation of Shopping Cart Using Raspberry pi”, Student Journal of Electrical and Electronics Enigineering (Student JEEE), Vol. 4, Issue. 1, PP 25-28, 2018.
[5] L S Y Dehigaspege, M K C Liyanage, N A M Liyanage, M I Marzook, D dhammearatchi, “Follow Me Multifunctional Automated Trolley”, International Journal of Engineering Research and Technology (IJERT), Vol. 6, Issue. 7, 2017.
[6] N G YenLeng, ChengSiongLim, K A Danapalasingam, M L PengTan, C WeiTan, “Automatic Human Guided Shoppinf Trolley with Smart Shopping System”, Journal Technology (Science and Engineering), Vol. 73, Issue. 3, PP 49-56, 2015.
[7] S Patil, A Mahale, A Landge, A Mahajan, “Smart Trolley”, International journal of Advanced Research in Computer and Communication Engineering (IJARCCE), Vol. 5, Issue. 3, PP 1011-1015, 2016.
[8] B Ilias, R Nagarajan, M Murgappan, K Helmy, A S Awang Omar, M A Abdul Rahman, “Hospital Nurse Following Robot”, International Journal of Medical Engineering and Informatics (IJMEI), Vol. 6, Issue. 1, PP 1-13, 2014.
[9] M Kumar, J Singh, Anju, S Varun, “Smart Trolley with Instant Billing to Queues at Shopping Malls using ARM 7 LPC 2148”, International Journal of Advanced Research in Computer and Communication Engineering (IJARCCE), Vol. 4, Issue. 8, PP 39-42, 2015. 
[10] C Akshay, B Ashwini, B Pradnia, J Uddhav, “Follwer Robotic Cart using Ultra-Sonic Sensor”, International Journal of Engineering Science and Computing (IJESC), Vol. 7, Issue. 3, PP 5794-5797, 2017.
[11] K Akhila, P Sampath Kumar "Smart Phone Based Robotic ARM Control using Raspberry Pi and wi-fi", International Journal of Advanced Technology and Innovative Research (IJATIR), Vol. 8, Issue. 10, PP 1930-1932, 2016.

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