Recognition of people's positioning by cooperative mobile robots for human groups steering
Recognition of people's positioning by cooperative mobile robots for human groups steering
复制标题
协作移动机器人识别人的位置进行人群转向
DOI：
10.1109/cira.2003.1222276
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
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作者：
Edgar A. Martínez;A. Ohya;S. Yuta
在这项研究中，我们试图建立一个多协作的移动机器人系统，能够执行在室内引导人的过程。当一个目标群体由几个人组成时，特别是当只打算使用一个机器人时，转向任务更难完成。然而，如果我们考虑到协作移动机器人系统在操纵多人时的性能比只操纵一个人的性能更高，并且将大大提高任务的性能，那么这个问题是可以克服的。本文详细介绍了一种利用具有三目立体视觉的多同质移动机器人进行多人定位的新方法。作为本研究的第一步，该方法包括空间噪声数据滤波、多传感器数据融合和基于聚类的分割。实验结果验证了该方法的可行性。
In this research we attempt to build a multi-cooperative mobile robot system able to perform the process of steering people in indoors. When a target-group is integrated by several persons, the steering task is more difficult to accomplish, specially when only a robot is intended to be used. However, the problem can be overcome if we consider that a cooperative mobile robot system's performance is higher for steering multiple humans than only one, and will greatly improve the performance of the tasks. In this paper, we detail a novel method for multiple human localization which has been developed by using multi homogeneous mobile robots, equipped with trinocular stereo vision. As a first step of this research the method includes spatial noise data filtering, multi sensor data fusion and clustering based segmentation. In addition, some experimental results are shown to verify the feasibility of the method.