Multiple player detection and tracking method using a laser range finder for a robot that plays with human

Nakamori, Yoshiteru; Hiroi, Yutaka; Ito, Akinori

doi:10.1186/s40648-018-0122-x

Cited by 12 publications

(15 citation statements)

References 38 publications

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“…Wang et al tried to improve the localization accuracy of a moving finger to improve gesture learning through an RFID tag array [45]; however, it cannot be used for relatively large objects like humans. Nakamori et al read body posture and the probability among deducted objects to be a human body by using laser range finders [46] but only for a specific game-playing environment.…”

Section: Tag Array Importance In Our Approachmentioning

confidence: 99%

Localization of Moving Objects Based on RFID Tag Array and Laser Ranging Information

et al. 2019

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RFID (radio-frequency identification) technology is rapidly emerging for the localization of moving objects and humans. Due to the blockage of radio signals by the human body, the localization accuracy achieved with a single tag is not satisfactory. This paper proposes a method based on an RFID tag array and laser ranging information to address the localization of live moving objects such as humans or animals. We equipped a human with a tag array and calculated the phase-based radial velocity of every tag. The laser information was, first, clustered through the DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm and then laser-based radial velocity was calculated. This velocity was matched with phase-based radial velocity to get best matching clusters. A particle filter was used to localize the moving human by fusing the matching results of both velocities. Experiments were conducted by using a SCITOS G5 service robot. The results verified the feasibility of our approach and proved that our approach significantly increases localization accuracy by up to 25% compared to a single tag approach.

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Section: Tag Array Importance In Our Approachmentioning

confidence: 99%

Localization of Moving Objects Based on RFID Tag Array and Laser Ranging Information

et al. 2019

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“…The method to detect and track the pedestrian is the same as that proposed by Nakamori et al [35], which uses an LRF. We briefly describe the human detection and tracking method.…”

Section: Detection Of a Pedestrianmentioning

confidence: 99%

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi

Ito

2019

Robotics

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Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.

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“…We have been developing a robot that plays the darumasan-ga-koronda game with children [13][14][15]. darumasan-ga-koronda is a traditional Japanese children's game.…”

Section: Introductionmentioning

confidence: 99%

“…We applied a human detection based on a laser range finder (LRF) for a human-following method [16] to track the players [14]. Then, we achieved a robust detection and tracking considering various postures of players [15].…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we describe the total robot system that plays darumasan-ga-koronda as "it." We only briefly describe the parts already published [13][14][15]. Then, we describe the other functions needed to achieve the total play, such as the function of a robot to touch the human players and to return to the original position after playing the game.…”

Section: Introductionmentioning

confidence: 99%

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Realization of a Robot System That Plays “Darumasan-Ga-Koronda ” Game with Humans

Hiroi

Ito

2019

Robotics

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In this paper, we describe the development of a robot that plays the “darumasan-ga- koronda” game with human players. It is a big challenge to develop a robot that can play with human players. We first observed the human–human game play and listed the problems for a robot to play the game with human players. We pointed out the following six tasks: detect players, track the detected players, decide if players are freezing (the “out” judgment), move to the nearest player, touch the player, and move back to the original position. Then, we designed a robot that uses a laser range finder (LRF) to measure the players and a robot avatar to interact with the players. Then, we developed the components needed to play the game. In this paper, we describe the details of the development of the arm to touch the player, the “out” judgment, and a function to return to the origin after finishing the game. Then, we describe an experimental result of the evaluation of the total system, as well as the track record of the demonstrations in the events.

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Multiple player detection and tracking method using a laser range finder for a robot that plays with human

Cited by 12 publications

References 38 publications

Localization of Moving Objects Based on RFID Tag Array and Laser Ranging Information

Localization of Moving Objects Based on RFID Tag Array and Laser Ranging Information

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Realization of a Robot System That Plays “Darumasan-Ga-Koronda ” Game with Humans

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