Long-term human affordance maps

R. Limosani; L. Yoichi Morales; J. Even; F. Ferreri; A. Watanabe; F. Cavallo; P. Dario; N. Hagita

doi:10.1109/IROS.2015.7354193

Long-term human affordance maps

R. Limosani, L. Yoichi Morales, J. Even, F. Ferreri, A. Watanabe, F. Cavallo, P. Dario, N. Hagita

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper presents a work on mapping the use of space by humans in long periods of time. Daily geometric maps with the same coordinate frame were generated with SLAM, and in a similar manner, daily affordance density maps (places people use) were generated with the output of a human tracker running on the robot. The contribution of the paper is two-fold: an approach to detect geometric changes to cluster them in similar geometric configurations and the building of geometric and affordance composite maps on each cluster. This approach avoids the loss of long term retrieved information. Geometric similarity was computed using a normal distance approach on the maps. The analysis was performed on data collected by a mobile robot for a period of 4 months accumulating data equivalent to 70 days. Experimental results show that the system is capable of detecting geometric changes in the environment and clustering similar geometric configurations.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5748-5754
Number of pages	7
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354193
Publication status	Published - 2015 Dec 11
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 2015 Sep 28 → 2015 Oct 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	15/9/28 → 15/10/2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7354193

Cite this

Limosani, R., Morales, L. Y., Even, J., Ferreri, F., Watanabe, A., Cavallo, F., Dario, P., & Hagita, N. (2015). Long-term human affordance maps. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5748-5754). [7354193] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354193

Long-term human affordance maps. / Limosani, R.; Morales, L. Yoichi; Even, J.; Ferreri, F.; Watanabe, A.; Cavallo, F.; Dario, P.; Hagita, N.

IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5748-5754 7354193 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Limosani, R, Morales, LY, Even, J, Ferreri, F, Watanabe, A, Cavallo, F, Dario, P & Hagita, N 2015, Long-term human affordance maps. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7354193, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 5748-5754, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 15/9/28. https://doi.org/10.1109/IROS.2015.7354193

Limosani R, Morales LY, Even J, Ferreri F, Watanabe A, Cavallo F et al. Long-term human affordance maps. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5748-5754. 7354193. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2015.7354193

Limosani, R. ; Morales, L. Yoichi ; Even, J. ; Ferreri, F. ; Watanabe, A. ; Cavallo, F. ; Dario, P. ; Hagita, N. / Long-term human affordance maps. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5748-5754 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "This paper presents a work on mapping the use of space by humans in long periods of time. Daily geometric maps with the same coordinate frame were generated with SLAM, and in a similar manner, daily affordance density maps (places people use) were generated with the output of a human tracker running on the robot. The contribution of the paper is two-fold: an approach to detect geometric changes to cluster them in similar geometric configurations and the building of geometric and affordance composite maps on each cluster. This approach avoids the loss of long term retrieved information. Geometric similarity was computed using a normal distance approach on the maps. The analysis was performed on data collected by a mobile robot for a period of 4 months accumulating data equivalent to 70 days. Experimental results show that the system is capable of detecting geometric changes in the environment and clustering similar geometric configurations.",

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AU - Dario, P.

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Long-term human affordance maps

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