People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot
Joint Authors
Matsuhira, Nobuto
Ozaki, Fumio
Okuno, Hiroshi G.
Tasaki, Tsuyoshi
Ogata, Tetsuya
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-01-11
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Navigation robots must single out partners requiring navigation and move in the cluttered environment where people walk around.
Developing such robots requires two different people detections: detecting partners and detecting all moving people around the robots.
For detecting partners, we design divided spaces based on the spatial relationships and sensing ranges.
Mapping the friendliness of each divided space based on the stimulus from the multiple sensors to detect people calling robots positively, robots detect partners on the highest friendliness space.
For detecting moving people, we regard objects’ floor boundary points in an omnidirectional image as obstacles.
We classify obstacles as moving people by comparing movement of each point with robot movement using odometry data, dynamically changing thresholds to detect.
Our robot detected 95.0% of partners while it stands by and interacts with people and detected 85.0% of moving people while robot moves, which was four times higher than previous methods did.
American Psychological Association (APA)
Tasaki, Tsuyoshi& Ozaki, Fumio& Matsuhira, Nobuto& Ogata, Tetsuya& Okuno, Hiroshi G.. 2012. People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot. Journal of Robotics،Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-490299
Modern Language Association (MLA)
Tasaki, Tsuyoshi…[et al.]. People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot. Journal of Robotics No. 2011 (2011), pp.1-10.
https://search.emarefa.net/detail/BIM-490299
American Medical Association (AMA)
Tasaki, Tsuyoshi& Ozaki, Fumio& Matsuhira, Nobuto& Ogata, Tetsuya& Okuno, Hiroshi G.. People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot. Journal of Robotics. 2012. Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-490299
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-490299