22,596 research outputs found
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
Rapid deployment and operation are key requirements in time critical
application, such as Search and Rescue (SaR). Efficiently teleoperated ground
robots can support first-responders in such situations. However, first-person
view teleoperation is sub-optimal in difficult terrains, while a third-person
perspective can drastically increase teleoperation performance. Here, we
propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide
third-person perspective to ground robots. While our approach is based on local
visual servoing, it further leverages the global localization of several ground
robots to seamlessly transfer between these ground robots in GPS-denied
environments. Therewith one MAV can support multiple ground robots on a demand
basis. Furthermore, our system enables different visual detection regimes, and
enhanced operability, and return-home functionality. We evaluate our system in
real-world SaR scenarios.Comment: Accepted for publication in 2018 IEEE International Symposium on
Safety, Security and Rescue Robotics (SSRR
Multisensor-based human detection and tracking for mobile service robots
The one of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In the present paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based legs detection using the on-board LRF. The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to be very discriminative also in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera and the information is fused to the legs position using a sequential implementation of Unscented Kalman Filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms.
Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments
Evolutionary Robot Vision for People Tracking Based on Local Clustering
This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and a human tracking method based on the evolutionary robot vision. Finally, we show experimental results of the human tracking to discuss the effectiveness of our proposed method
Assistive technology design and development for acceptable robotics companions for ageing years
© 2013 Farshid Amirabdollahian et al., licensee Versita Sp. z o. o. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs license, which means that the text may be used for non-commercial purposes, provided credit is given to the author.A new stream of research and development responds to changes in life expectancy across the world. It includes technologies which enhance well-being of individuals, specifically for older people. The ACCOMPANY project focuses on home companion technologies and issues surrounding technology development for assistive purposes. The project responds to some overlooked aspects of technology design, divided into multiple areas such as empathic and social human-robot interaction, robot learning and memory visualisation, and monitoring persons’ activities at home. To bring these aspects together, a dedicated task is identified to ensure technological integration of these multiple approaches on an existing robotic platform, Care-O-Bot®3 in the context of a smart-home environment utilising a multitude of sensor arrays. Formative and summative evaluation cycles are then used to assess the emerging prototype towards identifying acceptable behaviours and roles for the robot, for example role as a butler or a trainer, while also comparing user requirements to achieved progress. In a novel approach, the project considers ethical concerns and by highlighting principles such as autonomy, independence, enablement, safety and privacy, it embarks on providing a discussion medium where user views on these principles and the existing tension between some of these principles, for example tension between privacy and autonomy over safety, can be captured and considered in design cycles and throughout project developmentsPeer reviewe
Data association and occlusion handling for vision-based people tracking by mobile robots
This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets
Who am I talking with? A face memory for social robots
In order to provide personalized services and to
develop human-like interaction capabilities robots need to rec-
ognize their human partner. Face recognition has been studied
in the past decade exhaustively in the context of security systems
and with significant progress on huge datasets. However, these
capabilities are not in focus when it comes to social interaction
situations. Humans are able to remember people seen for a
short moment in time and apply this knowledge directly in
their engagement in conversation. In order to equip a robot with
capabilities to recall human interlocutors and to provide user-
aware services, we adopt human-human interaction schemes to
propose a face memory on the basis of active appearance models
integrated with the active memory architecture. This paper
presents the concept of the interactive face memory, the applied
recognition algorithms, and their embedding into the robot’s
system architecture. Performance measures are discussed for
general face databases as well as scenario-specific datasets
- …