移動する人にサービス提供するロボットのための環境情報構造化 Structuring of Environmental Information to Allow a Robot to Proactively Approach to Customers

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著者

    • 神田 崇行 KANDA Takayuki
    • (株)国際電気通信基礎技術研究所知能ロボティクス研究所 ATR Intelligent Robotics and Communication Laboratories
    • Dylan F. Glas GLAS Dylan F.
    • (株)国際電気通信基礎技術研究所知能ロボティクス研究所 ATR Intelligent Robotics and Communication Laboratories
    • 萩田 紀博 HAGITA Norihiro
    • (株)国際電気通信基礎技術研究所知能ロボティクス研究所 ATR Intelligent Robotics and Communication Laboratories

抄録

For a robot providing services to people in a public space such as a train station or a shopping mall, it is important to distinguish potential customers, such as window-shoppers, from other people, such as busy commuters. In this paper, we present a series of techniques for anticipating people’s behavior in a public space, mainly based on the analysis of accumulated trajectories, and we demonstrate the use of these techniques in a social robot. We placed a ubiquitous sensor system consisting of six laser range finders in a shopping arcade. The system tracks people’s positions as well as their local behaviors such as fast walking, idle walking, or stopping. We accumulated people’s trajectories for a week, applying a clustering technique to the accumulated trajectories to extract information about the use of space and people’s typical global behaviors. This information enables the robot to target its services to people who are walking idly or stopping. The robot anticipates both the areas in which people are likely to perform these behaviors, and also the probable local behaviors of individuals a few seconds in the future. In a field experiment we demonstrate that this system enables the robot to serve people efficiently.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 27(4), 449-459, 2009-05-15

    一般社団法人 日本ロボット学会

参考文献:  27件中 1-27件 を表示

被引用文献:  2件中 1-2件 を表示

各種コード

  • NII論文ID(NAID)
    10024790284
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    10282882
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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