Teaching a robot where objects are: Specification of object location using human following and human orientation estimation

Keisuke Sakai; Yutaka Hiroi; Akinori Ito

doi:10.1109/WAC.2014.6936012

Teaching a robot where objects are: Specification of object location using human following and human orientation estimation

Keisuke Sakai, Yutaka Hiroi, Akinori Ito

ENG - Communications Engineering

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

2 Citations (Scopus)

Abstract

We propose a total method to specify object's position to a mobile robot using person-following. The user first moves toward the target object and the robot follows the person, recording the trajectory of the walk. After arriving at the target position, the robot identifies the position of the object by estimating the orientation of the person. Then the robot traces the trajectory from the origin to the target position, and finally the robot faces the target object. The estimation of the orientation of the person is performed by fitting an ellipse to the measurement of the laser range finder.

Original language	English
Title of host publication	World Automation Congress Proceedings
Publisher	IEEE Computer Society
Pages	490-495
Number of pages	6
ISBN (Electronic)	9781889335490
DOIs	https://doi.org/10.1109/WAC.2014.6936012
Publication status	Published - 2014 Oct 24
Event	2014 World Automation Congress, WAC 2014 - Waikoloa, United States Duration: 2014 Aug 3 → 2014 Aug 7

Publication series

Name	World Automation Congress Proceedings
ISSN (Print)	2154-4824
ISSN (Electronic)	2154-4832

Other

Other	2014 World Automation Congress, WAC 2014
Country	United States
City	Waikoloa
Period	14/8/3 → 14/8/7

Keywords

human trajectory estimation
laser range finder
mobile robot
object specification
person-following

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/WAC.2014.6936012

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Teaching a robot where objects are : Specification of object location using human following and human orientation estimation. / Sakai, Keisuke; Hiroi, Yutaka; Ito, Akinori.

World Automation Congress Proceedings. IEEE Computer Society, 2014. p. 490-495 6936012 (World Automation Congress Proceedings).

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

Sakai, K, Hiroi, Y & Ito, A 2014, Teaching a robot where objects are: Specification of object location using human following and human orientation estimation. in World Automation Congress Proceedings., 6936012, World Automation Congress Proceedings, IEEE Computer Society, pp. 490-495, 2014 World Automation Congress, WAC 2014, Waikoloa, United States, 14/8/3. https://doi.org/10.1109/WAC.2014.6936012

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