1 research outputs found
Software-hardware Integration and Human-centered Benchmarking for Socially-compliant Robot Navigation
The social compatibility (SC) is one of the most important parameters for
service robots. It characterises the interaction quality between a robot and a
human. In this paper, we first introduce an open-source software-hardware
integration scheme for socially-compliant robot navigation and then propose a
human-centered benchmarking framework. For the former, we integrate one 3D
lidar, one 2D lidar, and four RGB-D cameras for robot exterior perception. The
software system is entirely based on the Robot Operating System (ROS) with high
modularity and fully deployed to the embedded hardware-based edge while running
at a rate that exceeds the release frequency of sensor data. For the latter, we
propose a new human-centered performance evaluation metric that can be used to
measure SC quickly and efficiently. The values of this metric correlate with
the results of the Godspeed questionnaire, which is believed to be a golden
standard approach for SC measurements. Together with other commonly used
metrics, we benchmark two open-source socially-compliant robot navigation
methods, in an end-to-end manner. We clarify all aspects of the benchmarking to
ensure the reproducibility of the experiments. We also show that the proposed
new metric can provide further justification for the selection of numerical
metrics (objective) from a human perspective (subjective).Comment: 8 pages, 8 figure