A Survey on Human-aware Robot Navigation

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form of embodied agents or robots, have so far been used only for specific applications and are often limited to functional roles (e.g. in the industry, entertainment and military fields). Given the current growth and innovation in the research communities concerned with the topics of robot navigation, human-robot-interaction and human activity recognition, it seems like this might soon change. Robots are increasingly easy to obtain and use and the acceptance of them in general is growing. However, the design of a socially compliant robot that can function as a companion needs to take various areas of research into account. This paper is concerned with the navigation aspect of a socially-compliant robot and provides a survey of existing solutions for the relevant areas of research as well as an outlook on possible future directions.Comment: Robotics and Autonomous Systems, 202

Sistem Pengikut Manusia pada Robot Servis Menggunakan Model YOLO dan Kamera Stereo

Kemampuan mengikuti seseorang merupakan fitur penting bagi robot servis yang bekerja berdampingan dengan manusia. Untuk merancang sistem pengikut manusia pada robot servis, diperlukan akurasi yang tinggi tapi juga tanpa mengorbankan kecepatan komputasi agar sistem berjalan secara real-time. Penelitian ini bertujuan untuk merancang sebuah sistem pengikut manusia untuk robot servis dengan memanfaatkan model pendeteksi objek You Only Look Once (YOLO) dan kamera stereo. Sistem ini dirancang agar robot dapat menjaga jarak yang tetap dari target yang diikuti dan menjaga orientasinya sehingga target tetap berada di tengah pandangan robot. Perancangan sistem ini juga memanfaatkan algoritma pelacak dari OpenCV yang dikoreksi dengan model YOLOv7 setiap 20 frame untuk menghasilkan proses yang lebih cepat. Pengontrol PID digunakan untuk menghasilkan kecepatan linear dan angular robot berdasarkan jarak relatif orang yang dijadikan target dari robot dan posisinya pada frame. Robot Operating System (ROS) digunakan untuk mem-publish kecepatan pada node yang sesuai. Berdasarkan hasil pengujian algoritma pelacak, pelacak Boosting memiliki hasil terbaik untuk digunakan. Selanjutnya, sistem ini diuji untuk mengontrol robot servis di dalam ruangan dengan berbagai variasi kondisi. Dari pengujian-pengujian tersebut, robot berhasil untuk mengikuti seseorang dengan eror RMS sebesar 41,88 mm dan standar deviasi sebesar 35,59 mm saat robot berhenti di jarak 1 m dari target. Nilai eror terbesar yang didapat bernilai 320,369 mm yang terjadi ketika sistem dijalankan pada ruangan gelap. Sistem ini berjalan dengan frame rate rata-rata sebesar 17,18 FPS

Virtuaalse proovikabiini 3D kehakujude ja roboti juhtimisalgoritmide uurimine

Väitekirja elektrooniline versioon ei sisalda publikatsiooneVirtuaalne riiete proovimine on üks põhilistest teenustest, mille pakkumine võib suurendada rõivapoodide edukust, sest tänu sellele lahendusele väheneb füüsilise töö vajadus proovimise faasis ning riiete proovimine muutub kasutaja jaoks mugavamaks. Samas pole enamikel varem välja pakutud masinnägemise ja graafika meetoditel õnnestunud inimkeha realistlik modelleerimine, eriti terve keha 3D modelleerimine, mis vajab suurt kogust andmeid ja palju arvutuslikku ressurssi. Varasemad katsed on ebaõnnestunud põhiliselt seetõttu, et ei ole suudetud korralikult arvesse võtta samaaegseid muutusi keha pinnal. Lisaks pole varasemad meetodid enamasti suutnud kujutiste liikumisi realistlikult reaalajas visualiseerida. Käesolev projekt kavatseb kõrvaldada eelmainitud puudused nii, et rahuldada virtuaalse proovikabiini vajadusi. Välja pakutud meetod seisneb nii kasutaja keha kui ka riiete skaneerimises, analüüsimises, modelleerimises, mõõtmete arvutamises, orientiiride paigutamises, mannekeenidelt võetud 3D visuaalsete andmete segmenteerimises ning riiete mudeli paigutamises ja visualiseerimises kasutaja kehal. Selle projekti käigus koguti visuaalseid andmeid kasutades 3D laserskannerit ja Kinecti optilist kaamerat ning koostati nendest andmebaas. Neid andmeid kasutati välja töötatud algoritmide testimiseks, mis peamiselt tegelevad riiete realistliku visuaalse kujutamisega inimkehal ja suuruse pakkumise süsteemi täiendamisega virtuaalse proovikabiini kontekstis.Virtual fitting constitutes a fundamental element of the developments expected to rise the commercial prosperity of online garment retailers to a new level, as it is expected to reduce the load of the manual labor and physical efforts required. Nevertheless, most of the previously proposed computer vision and graphics methods have failed to accurately and realistically model the human body, especially, when it comes to the 3D modeling of the whole human body. The failure is largely related to the huge data and calculations required, which in reality is caused mainly by inability to properly account for the simultaneous variations in the body surface. In addition, most of the foregoing techniques cannot render realistic movement representations in real-time. This project intends to overcome the aforementioned shortcomings so as to satisfy the requirements of a virtual fitting room. The proposed methodology consists in scanning and performing some specific analyses of both the user's body and the prospective garment to be virtually fitted, modeling, extracting measurements and assigning reference points on them, and segmenting the 3D visual data imported from the mannequins. Finally, superimposing, adopting and depicting the resulting garment model on the user's body. The project is intended to gather sufficient amounts of visual data using a 3D laser scanner and the Kinect optical camera, to manage it in form of a usable database, in order to experimentally implement the algorithms devised. The latter will provide a realistic visual representation of the garment on the body, and enhance the size-advisor system in the context of the virtual fitting room under study