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Human-Aware Navigation Using External Omnidirectional Cameras

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Book cover Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

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Abstract

If robots are to invade our homes and offices, they will have to interact more naturally with humans. Natural interaction will certainly include the ability of robots to plan their motion, accounting for the social norms enforced. In this paper we propose a novel solution for Human-Aware Navigation resorting to external omnidirectional static cameras, used to implement a vision-based person tracking system. The proposed solution was tested in a typical domestic indoor scenario in four different experiments. The results show that the robot is able to cope with human-aware constraints, defined after common proxemics rules.

This work was supported by EU-funded projects [FP7-ICT-2011-9-601033] MOnarCH, [FP7-ICT-601012] RoCKIn, and FCT project [UID/EEA/50009/2013].

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Authors and Affiliations

  1. Institute for Systems and Robotics (LARSyS), Instituto Superior Técnico, Universidade de Lisboa, Torre Norte - 7 Piso Av.Rovisco Pais, 1, 1049-001, Lisbon, Portugal

    André Mateus, Pedro Miraldo, Pedro U. Lima & João Sequeira

Authors
  1. André Mateus
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  2. Pedro Miraldo
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  3. Pedro U. Lima
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  4. João Sequeira
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Corresponding author

Correspondence to André Mateus .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Mateus, A., Miraldo, P., Lima, P.U., Sequeira, J. (2016). Human-Aware Navigation Using External Omnidirectional Cameras. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_22

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

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