Vision based Autonomous Navigation and Human Robot Interaction (HRI) for a Team of Flying Robots

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We propose to purchase a high-quality indoor motion-capture system to track the locations of a team of flying robots and humans as they interact, cameras for data collection by a team of robots, and computer servers and storage to process these data. This equipment will support the applicants' individual and joint research programs. Each of our team has recently demonstrated world-leading new capabilities in multi-camera tracking and SLAM (Tan), in vision-mediated human-robot interaction (Vaughan), and human activity recognition from video (Mori). The proposed equipment will support our new joint work, where we (i) control a team of flying robots to observe moving people from several viewpoints (ii) reconstruct a 3D view of each person and extract a skeleton pose estimate in real time, (iii) categorize the people's activity, and (iv) use the activity information to help the robots improve their camera placement.