Access count of this item: 99

Files in This Item:
File Description SizeFormat 
2011_683975.pdf3.36 MBAdobe PDFView/Open
Title: People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot
Authors: Tasaki, Tsuyoshi
Ozaki, Fumio
Matsuhira, Nobuto
Ogata, Tetsuya
Okuno, Hiroshi G.
Author's alias: 奥乃, 博
Issue Date: 2011
Publisher: Hindawi Publishing Corporation
Journal title: Journal of Robotics
Volume: 2011
Thesis number: 683975
Abstract: 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.
Rights: © 2011 Tsuyoshi Tasaki et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
URI: http://hdl.handle.net/2433/187382
DOI(Published Version): 10.1155/2011/683975
Appears in Collections:Journal Articles

Show full item record

Export to RefWorks


Export Format: 


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.