Abstract
Future home and service robots will require advanced navigation and interaction capabilities. In particular, domestic environments present open challenges that are hard to identify by conducting controlled tests in home-like settings: there is the need to test and evaluate navigation in the actual homes of users. This paper presents the experiences of operating a mobile robot with manipulation capabilities and an open set of tasks in extensive trials with real users, in their own homes. The main difficulties encountered are the requirement to move safely in cluttered 3D environments, the problems related to navigation in narrow spaces, and the need for an adaptive rather than fixed way to approach the users. We describe our solutions based on RGB-D perception and evaluate the integrated system for navigation in real home environments, pointing out remaining challenges towards more advanced commercial solutions.
Similar content being viewed by others
References
Vaussard, F., Fink, J., Bauwens, V., Rétornaz, P., Hamel, D., Dillenbourg, P., Mondada, F.: Lessons learned from robotic vacuum cleaners entering the home ecosystem. Robot. Auton. Syst. 62(3), 376–391 (2014)
Gross, H.M., Mueller, S., Schroeter, C., Volkhardt, M., Scheidig, A., Debes, K., Richter, K., Doering, N.: Robot companion for domestic health assistance Implementation, test and case study under everyday conditions in private apartments. In: Proc. of IEEE/RSJ international conference on intelligent robots and systems (IROS), 5992–5999 (2015)
Ruiz-Sarmiento, J.R., Galindo, C., González-Jiménez, J.: Robot@home, a robotic dataset for semantic mapping of home environments. Int. J. Robot. Res. 36(2), 131–141 (2017)
Xu, Y., Qian, H., Wu, X.: Household service robotics. Intelligent systems. Academic Press, Cambridge (2015)
Fischinger, D., Einramhof, P., Papoutsakis, K., Wohlkinger, W., Mayer, P., Panek, P., Hofmann, S., Koertner, T., Weiss, A., Argyros, A., Hobbit, M. Vincze.: A care robot supporting independent living at home: First prototype and lessons learned. Robot. Auton. Syst. 75(Part A), 60–78 (2016)
Coradeschi, S., Cesta, A., Cortellessa, G., Coraci, L., Galindo, C., Gonzalez, J., Karlsson, L., Forsberg, A., Frennert, S., Furfari, F., Loutfi, A., Orlandini, A., Palumbo, F., Pecora, F., von Rump, S., Stimec, A., Ullberg, J., Otslund, B.: Giraffplus: A system for monitoring activities and physiological parameters and promoting social interaction for elderly. In: Human-Computer systems interaction: backgrounds and applications 3, vol. 300, pp. 261–271. Springer International Publishing (2014)
Görer, B.R., Salah, A.A., Akın, H.L.: A robotic fitness coach for the elderly. In: Proc. of ambient intelligence: 4th international joint conference, (AmI), pp. 124–139. Springer International Publishing (2013)
Bajones, M., Fischinger, D., Weiss, A., de la Puente, P., Wolf, D., Vincze, M., Körtner, T., Weninger, M., Papoutsakis, D.M.K., Qammaz, A., Panteleris, P., Foukarakis, M., Adami, I., Ioannidi, D., Leonidis, A., Antona, M., Argyros, A., Mayer, P., Panek, P., Eftring, H., Frennert, S.: A year of field trials with the Hobbit Robot. Submitted to ACM Transactions on Human-Robot Interaction (2017)
Breuer, T., Giorgana Macedo, G.R., Hartanto, R., Hochgeschwender, N., Holz, D., Hegger, F., Jin, Z., Müller, C., Paulus, J., Reckhaus, M., Álvarez Ruiz, J.A., Plöger, P.G., Kraetzschmar, G.K.: Johnny: An autonomous service robot for domestic environments. J. Intell. Robot. Syst. 66(1), 245–272 (2012)
Marginean, M.T.: Distributed system for domestic robot operation using computer vision. PhD thesis (2016)
Forlizzi, J., DiSalvo, C.: Service robots in the domestic environment A study of the roomba vacuum in the home. In: Proc. of ACM SIGCHI/SIGART conference on human-robot interaction, pp. 258–265 (2006)
Schroeter, C., Mueller, S., Volkhardt, M., Einhorn, E., Huijnen, C., van den Heuvel, H., van Berlo, A., Bley, A., Gross, H.-M.: Realization and user evaluation of a companion robot for people with mild cognitive impairments. In: Proc. of IEEE international conference on robotics and automation (ICRA), pp. 1153–1159 (2013)
Zsiga, K., Tóth, A., Pilissy, T., Péter, O., Dénes, Z., Fazekas, G.: Evaluation of a companion robot based on field tests with single older adults in their homes. Assist. Technol. 19, 1–8 (2017). https://doi.org/10.1080/10400435.2017.1322158
Iocchi, L., Ruiz-del Solar, J., van der Zant, T.: Domestic service robots in the real world. J. Intell. Robot. Syst. 66(1), 183–186 (2012)
de la Puente, P., Bajones, M., Einramhof, P., Wolf, D., Fischinger, D., Vincze, M.: RGB-d sensor setup for multiple tasks of home robots and experimental results. In: Proc. of IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 2587–2594 (2014)
Bajones, M., Fischinger, D., Weiss, A., et al.: Hobbit: providing fall detection and prevention for the elderly in the real world. J. Robot. 2018, 20pp (2018). https://doi.org/10.1155/2018/1754657
de la Puente, P., Bajones, M., Reuther, C., Fischinger, D., Wolf, D., Vincze, M.: Experiences with RGB-d based navigation in real home robotic trials. In: OAGM-ARW joint workshop 2016 on computer vision and robotics, pp. 153–165 (2016)
Gates, B.: A robot in every home. Scientific American Magazine 296(1), 58–65 (2007)
Fortunati, L.: Moving robots from industrial sectors to domestic spheres: a foreword. In: Esposito, A., Jain, L. (eds.) Toward Robotic Socially Believable Behaving Systems - Volume II. Intelligent Systems Reference Library, vol. 106. Springer, Cham (2016)
Bogue, R.: Domestic robots: Has their time finally come?. Industrial Robot: An International Journal 44(2), 129–136 (2017)
Kostavelis, I., Giakoumis, D., Malassiotis, S., Tzovaras, D.: Human aware robot navigation in semantically annotated domestic environments. In: Proc. of universal access in human-computer interaction, pp. 414–423, Springer International Publishing (2016)
Kirsch, A.: Heuristic decision-making for human-aware navigation in domestic environments. In: Proc. of global conference on artificial intelligence (GCAI), vol. 41 of EPiC Series in Computing, pp. 200–213 (2016)
Mount, J.: M Milford. 2d visual place recognition for domestic service robots at night. In: Proc. of IEEE international conference on robotics and automation (ICRA),pp. 4822–4829 (2016)
Ruiz-Sarmiento, J.R., Galindo, C., Gonzalez-Jimenez, J.: Joint categorization of objects and rooms for mobile robots. In: Proc. of IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 2523–2528 (2015)
Uršič, P., Leonardis, A., Skočaj, D., Kristan, M.: Learning part-based spatial models for laser-vision-based room categorization. Int. J. Robot. Res. 36(4), 379–402 (2015)
Sprute, D., Rasch, R., Tönnies, K., König, M.: A framework for interactive teaching of virtual borders to mobile robots. In: Proc. of IEEE/RSJ international symposium on robot and human interactive communication (RO-MAN), pp. 1175–1181 (2017)
Holz, D., Kraetzschmar, G.K., Rome, E.: Robocup 2009. Chapter Robust and Computationally Efficient Navigation in Domestic Environments, pp 104–115. Springer, Berlin (2010)
Soroka, A.J., Qiu, R., Noyvirt, A., Ji, Z.: Challenges for service robots operating in non-industrial environments. In: Proc. of IEEE international conference on industrial informatics (INDIN), pp. 1152–1157 (2012)
Prassler, E., Bischoff, R., Burgard, W., Haschke, R., Hägele, M., Lawitzky, G., Nebel, B., Plöger, P., Reiser, U., Zöllner, M.: Towards service robots for everyday environments. recent advances in designing service robots for complex tasks in everyday environments. Springer Tracts in Advanced Robotics, Springer, Berlin (2012)
de Graaf, M.M.A., Ben Allouch, S., van Dijk, J.A.G.M.: Long-term evaluation of a social robot in real homes. Interact. Stud. 17(3), 462–491 (2016)
Mast, M., Burmester, M., Berner, E., Facal, D., Pigini, L., Blasi, L.: Semi-autonomous teleoperated learning in-home service robots for elderly care A qualitative study on needs and perceptions of elderly people, family caregivers, and professional caregivers. In: Proc. of the 20th international conference on robotics and mechatronics, pp. 1–6 (2010)
Papadopoulos, F., Küster, D., Corrigan, L.J., Kappas, A., Castellano, G.: Do relative positions and proxemics affect the engagement in a human-robot collaborative scenario?. Interact. Stud. 17(3), 321–347 (2016)
Mead, R., Matarić, M.J.: Perceptual models of human-robot proxemics. In: Hsieh, M., Khatib, O., Kumar, V. (eds.) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham (2016)
Rossi, S., Ferland, F., Tapus, A.: User profiling and behavioral adaptation for HRI: a survey. Pattern Recogn. Lett. 99(Supplement C), 3–12 (2017)
Koay, K.L., Syrdal, D.S., Ashgari-Oskoei, M., Walters, M.L., Dautenhahn, K.: Social roles and baseline proxemic preferences for a domestic service robot. Int. J. Soc. Robot. 6(4), 469–488 (2014)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng. A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)
Einhorn, E., Langner, T., Stricker, R., Martin, C., Gross, H.: Mira - middleware for robotic applications. In: Proc. of IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 2591–2598 (2012)
Bohren, J., Cousins, S.: The smach high-level executive [ros news]. IEEE Robot. Autom. Mag. 17(4), 18–20 (2010)
Hawes, N., Burbridge, C., Jovan, F., Kunze, L., Lacerda, B., Mudrová, L., Young, J., Wyatt, J., Hebesberger, D., Körtner, T., Ambrus, R., Bore, N., Folkesson, J., Jensfelt, P., Beyer, L., Hermans, A., Leibe, B., Aldoma, A., Fäulhammer, T., Zillich, M., Vincze, M., Chinellato, E., Al-Omari, M., Duckworth, P., Gatsoulis, Y., Hogg, D., Cohn, A., Dondrup, C., Pulido, J., Krajník, T., Santos, J., Duckett, T., Hanheide, M.: The STRANDS, project: Long-term autonomy in everyday environments. IEEE Robot. Autom. Mag. 24(3), 146–156 (2016)
Hendrich, N., Bistry, H., Jianwei, Z.: PEIS, MIRA, and ROS: Three frameworks, one service robot -A tale of integration. In: 2014 IEEE international conference on robotics and biomimetics (ROBIO), pp. 1749–1756 (2014)
Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robot. 23(1), 34–46 (2007)
Trevor, A.J.B., Cosgun, A., Kumar, J., Christensen, H.I.: Interactive map labeling for service robots. In: IROS Workshop on Active Semantic Perception (2012)
González-Jiménez, J., Galindo, C., Melendez-Fernandez, F., Ruiz-Sarmiento, J.R.: Building and exploiting maps in a telepresence robotic application. In: 10th international conference on informatics in control, automation and robotics (ICINCO), pp. 322–328 (2013)
Panteleris, P., Argyros, A.: Vision-based SLAM And moving objects tracking for the perceptual support of a smart walker platform. In: Computer Vision - ECCV 2014 Workshops, vol. 8927 of Lecture Notes in Computer Science, pp. 407–423, Springer International Publishing (2015)
Qammaz, A., Kyriazis, N., Argyros, A.A.: Boosting the performance of model-based 3d tracking by employing low level motion cues. In: Proc. of the British machine vision conference (BMVC), pp. 144.1–144.11 (2015)
Fischinger, D., Weiss, A., Vincze, M.: Learning grasps with topographic features. Int. J. Robot. Res. 34(9), 1167–1194 (2015)
Acknowledgements
We would like to acknowledge the contribution of all the project partners who made this work possible. Furthermore, Fig. 2. c) and d) were taken by Ammar Qammaz (Institute of Computer Science, FORTH) and Fig. 18. was obtained thanks to Susanne Frennert and Håkan Eftring (Certec, Lund University), who also recorded Online Resource 3. Lara Lammer (TU Wien) and Markus Weninger (AAF) additionally provided significant multimedia material. Astrid Weiss shared great discussions and advice. We are also very grateful to our elderly users. This work has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement No 288146.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Electronic supplementary material
Below is the link to the electronic supplementary material.
(MP4 16.8 MB)
(MP4 17.8 MB)
(MP4 18.9 MB)
Rights and permissions
About this article
Cite this article
de la Puente, P., Bajones, M., Reuther, C. et al. Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. J Intell Robot Syst 94, 455–470 (2019). https://doi.org/10.1007/s10846-018-0885-6
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-018-0885-6