Personal Intelligent Vehicle that Extends Human Physically and Informationally

我们一直在进行一个名为AT（Attentive Townvehicle）的个人智能车辆的研究项目。AT具有自动驾驶到乘客指定的目的地的功能。AT的一个示例应用是博物馆欣赏支持系统，该系统丰富了每个艺术欣赏初学者用户的博物馆体验。该系统可以通过基于用户过去的博物馆体验的个性化欣赏课程来鼓励用户获得有效的博物馆体验。该系统可以通过登上自动驾驶汽车来无声地记录在博物馆中移动的用户的博物馆体验。AT通过使用称为麦克纳姆轮的特殊车轮和四个伺服电机能够全方位移动和旋转。AT还具有自动避开障碍物的功能，当其乘客指定目的地时，通过使用四个激光测距传感器来感测AT周围的360度来自动避开障碍物。在自动驾驶期间，AT难以避免移动， ...更多信息 从AT传感器的盲区接近AT的障碍物。因此，我们在小型无人车（SUV）的基础上通过扩展AT的传感区域来解决这个问题。SUV具有生成用于定位当前位置的2D环境地图的功能。SUV可以搜索在前往目的地的途中有AT一些死区的地方。SUV自动行驶到某个地方，并探测周围的情况，作为AT的替代品。在此基础上，提出了一种自动安全运输的方法，并对其底层技术进行了评估。作为SUV的另一个应用，我们提出了一种利用SUV自动生成室内三维地图的机制。我们的方法可以使3D地图和2D环境地图之间的精确对齐，使我们生成的3D地图可以应用于高信息量的室内导航。此外，基于AT的基本功能，我们还开发了一个手势界面作为AT的直观控制界面。手的形状和运动由深度传感器真实的实时识别。本研究从辨识过程的视觉回馈观点，评估我们的手势介面，发现我们的介面对于新手使用者来说，是足够的直观，可以让他们尽可能容易地控制AT。本研究的成果，可以有助于促进智能移动机器的研发与部署，以及实现老年人与残障人士可以独立生活的安全与舒适的社会。少

We have been conducting a research project of a personal intelligent vehicle called AT(Attentive Townvehicle). AT has a function of automatic driving to the destination that its passenger specified.One of example applications of AT is a museum appreciation support system that enriches museum experiences for each user who is a beginner of art appreciations. The system can encourage effective museum experiences to users by personalizing appreciation courses based on their past museum experiences. The system can tacitly record the museum experiences of the users who move in museums by boarding the automated vehicles.AT is capable of omni-directional movement and rotation by using special wheels called mecanum wheels and four servo motors. AT also has a function of automatic avoidance of obstacles by sensing 360 degrees around AT using four laser range sensors when its passenger specified a destination to automatically move.During automatic driving, it is difficult for AT to avoid moving o … More bstacles that are approaching AT from dead areas of AT's sensors. Therefore, we solved the problem by extending sensing areas of AT based on a Small Unmanned Vehicle(SUV). SUV has a function of generation of a 2D environmental map for localization of current position. SUV can search for places where there are some dead areas of AT on the way to its destination. SUV autonomously moves to the places and probes circumstances around there as a substitute of AT. Based on the above the mechanism, We developed a method of automatic safe transportation and evaluated its underlying techniques.As another useful application of SUV, we developed a mechanism to automatically generate indoor 3D maps by using a SUV. Our method can make a precise alignment between the 3D maps and the 2D environmental maps so that our generated 3D maps can be applied to highly informative indoor navigations.In addition, based on AT's basic functionality, we also developed a hand gesture interface as an intuitive control interface of AT. Hand shapes and motions are recognized by a depth sensor in real time. We evaluated our gesture interface from the viewpoint of visual feedback of recognition processes and found that our interface is intuitive enough for novice users to control AT as easy as possible.The outputs of this research can contribute to facilitation of R & D and deployment of intelligent moving machines and realization of safe and comfortable society in which senior citizens and handicapped people can live independently. Less