  Following a specific user is a desired or even required capability for
service robots in many human-robot collaborative applications. However, most
existing person-following robots follow people without knowledge of who it is
following. In this paper, we proposed an identity-specific person tracker,
capable of tracking and identifying nearby people, to enable person-specific
following. Our proposed method uses a Sequential Nearest Neighbour with
Thresholding Selection algorithm we devised to fuse together an anonymous
person tracker and a face recogniser. Experiment results comparing our proposed
method with alternative approaches showed that our method achieves better
performance in tracking and identifying people, as well as improved robot
performance in following a target individual.
