Deep Detection of People and their Mobility Aids for a Hospital Robot

Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to recognize such advanced demands to provide appropriate assistance, guidance or other forms of support. In this paper, we propose a depth-based perception pipeline that estimates the position and velocity of people in the environment and categorizes them according to the mobility aids they use: pedestrian, person in wheelchair, person in a wheelchair with a person pushing them, person with crutches and person using a walker. We present a fast region proposal method that feeds a Region-based Convolutional Network (Fast R-CNN). With this, we speed up the object detection process by a factor of seven compared to a dense sliding window approach. We furthermore propose a probabilistic position, velocity and class estimator to smooth the CNN's detections and account for occlusions and misclassifications. In addition, we introduce a new hospital dataset with over 17,000 annotated RGB-D images. Extensive experiments confirm that our pipeline successfully keeps track of people and their mobility aids, even in challenging situations with multiple people from different categories and frequent occlusions. Videos of our experiments and the dataset are available at http://www2.informatik.uni-freiburg.de/~kollmitz/MobilityAidsComment: 7 pages, ECMR 2017, dataset and videos: http://www2.informatik.uni-freiburg.de/~kollmitz/MobilityAids

Virtual reality in the service of user participation in architecture

The issue of user participation in the processes of building and urban design is enjoying renewed attention following its relative neglect over the last 20 years due, in large measure, to significant advances in emerging information technologies, particularly multimedia, virtual reality and internet technologies. This paper re-established the theoretical framework for participatory design evolved in the late sixties and early seventies as part of the movement towards a more explicit design methodology and attempts an explanation of why the concept failed to gain commitment from the architectural and urban design professionals. The paper then gives an account of two significant developments in the evolution of the application of information technologies with which the authors have been engaged. These are: i. a responsive and interactive interface to wholly immersive and realistic virtual reality representations of proposed buildings and urban neighbourhoods. ii. an intuitive and platform-independent VR modelling environment allowing collaborative evolution of the scheme from within the virtual world. The impact of these IT developments is demonstrated in the context of the design of a leisure facility for a community of users with physical impairment

Cultural accessible pedestrian ways. The case of Faro historic centre

In a historic city the existence of accessible pedestrian routes constitutes an essential feature to a true access to culture heritage, contributing for processes of social inclusion. It is necessary to create accessible pedestrian infrastructures network to hold a set of attributes that guarantee usability for all citizens. The creation and design of an accessible physical environment should be considered as a criterion of urban quality, which will make walking more pleasant not only for the elderly and people with disabilities but, also, for the entire resident population and tourists. In this case study it is ascertainable whether the physical characteristics of pedestrian infrastructures of cultural interest, located in the Historical Centre of Faro (Portugal), comply with the requirements of the National Law of Accessibility. There has, therefore, been created a methodology for evaluating the accessibility of pedestrian infrastructure through the construction of performance indicators. The analysis is achieved through a model of evaluation of the degree of conformity of the spaces, and presented, spatially, with appeal to a Geographical Information System, which is a tool to support the decision taking in the processes of urban rehabilitation, thus contributing to the choice of priority areas of intervention in the field of accessibility. The diagnosis confirms the existence of inaccessible pedestrian infrastructure and concludes the need to trigger processes of urban renovation.info:eu-repo/semantics/publishedVersio

Autonomous Personal Mobility Scooter for Multi-Class Mobility-On-Demand Service

In this paper, we describe the design and development of an autonomous personal mobility scooter that was used in public trials during the 2016 MIT Open House, for the purpose of raising public awareness and interest about autonomous vehicles. The scooter is intended to work cooperatively with other classes of autonomous vehicles such as road cars and golf cars to improve the efficacy of Mobility-on-Demand transportation solutions. The scooter is designed to be robust, reliable, and safe, while operating under prolonged durations. The flexibility in fleet expansion is shown by replicating the system architecture and sensor package that has been previously implemented in the road car and golf cars. We show that the vehicle performed robustly with small localization variance. A survey of the users shows that the public is very receptive to the concept of the autonomous personal mobility device.Singapore-MIT Alliance for Research and Technology (SMART) (Future Urban Mobility research program)Singapore. National Research Foundatio

3D Perception Based Lifelong Navigation of Service Robots in Dynamic Environments

Lifelong navigation of mobile robots is to ability to reliably operate over extended periods of time in dynamically changing environments. Historically, computational capacity and sensor capability have been the constraining factors to the richness of the internal representation of the environment that a mobile robot could use for navigation tasks. With affordable contemporary sensing technology available that provides rich 3D information of the environment and increased computational power, we can increasingly make use of more semantic environmental information in navigation related tasks.A navigation system has many subsystems that must operate in real time competing for computation resources in such as the perception, localization, and path planning systems. The main thesis proposed in this work is that we can utilize 3D information from the environment in our systems to increase navigational robustness without making trade-offs in any of the real time subsystems. To support these claims, this dissertation presents robust, real world 3D perception based navigation systems in the domains of indoor doorway detection and traversal, sidewalk-level outdoor navigation in urban environments, and global localization in large scale indoor warehouse environments.The discussion of these systems includes methods of 3D point cloud based object detection to find respective objects of semantic interest for the given navigation tasks as well as the use of 3D information in the navigational systems for purposes such as localization and dynamic obstacle avoidance. Experimental results for each of these applications demonstrate the effectiveness of the techniques for robust long term autonomous operation