Finding misplaced items using a mobile robot in a smart home environment
Finding misplaced items using a mobile robot in a smart home environment
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DOI：
10.1631/fitee.1800275
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发表时间：
2019-08
影响因子：
3
通讯作者：
Qi Wang;Zhen Fan;W. Sheng;Sen-lin Zhang;Mei-qin Liu
中科院分区：
文献类型：
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作者：
Qi Wang;Zhen Fan;W. Sheng;Sen-lin Zhang;Mei-qin Liu
智能家居可以提供补充信息来辅助家庭服务机器人。我们提出了一种机器人丢失物品查找（MIF）系统，该系统使用在智能家居环境中获得的人类历史轨迹数据。首先，开发了一种多传感器融合方法来定位和跟踪居民。其次，开发了一种路径规划方法来生成机器人运动计划，该方法考虑了人类历史轨迹的知识。第三，应用基于卷积神经网络的实时物体检测器来检测放错位置的物品。我们在智能家居测试台上进行了 MIF 实验，实验结果验证了我们解决方案的准确性和效率。
Smart homes can provide complementary information to assist home service robots. We present a robotic misplaced item finding (MIF) system, which uses human historical trajectory data obtained in a smart home environment. First, a multi-sensor fusion method is developed to localize and track a resident. Second, a path-planning method is developed to generate the robot movement plan, which considers the knowledge of the human historical trajectory. Third, a real-time object detector based on a convolutional neural network is applied to detect the misplaced item. We present MIF experiments in a smart home testbed and the experimental results verify the accuracy and efficiency of our solution.