People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot

• Tasaki, Tsuyoshi

• Ozaki, Fumio

• Matsuhira, Nobuto

• Ogata, Tetsuya

• 奥乃, 博

抄録

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.

収録刊行物

• Journal of Robotics

  Journal of Robotics 2011 1-10, 2011

  Hindawi Publishing Corporation

キーワード

• General Computer Science
• Control and Systems Engineering

詳細情報

• CRID: 1050564285744980736
• NII論文ID: 120005439175
• ISSN: 16879600
• ISSN: 16879619
• DOI: 10.1155/2011/683975
• HANDLE: 2433/187382
• Web Site: http://downloads.hindawi.com/journals/jr/2011/683975.pdf
• Web Site: http://downloads.hindawi.com/journals/jr/2011/683975.xml
• 本文言語コード: en
• 資料種別: journal article
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