TY - GEN
T1 - Teaching a robot where objects are
T2 - 2014 World Automation Congress, WAC 2014
AU - Sakai, Keisuke
AU - Hiroi, Yutaka
AU - Ito, Akinori
N1 - Publisher Copyright:
© 2014 TSI Press.
PY - 2014/10/24
Y1 - 2014/10/24
N2 - 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.
AB - 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.
KW - human trajectory estimation
KW - laser range finder
KW - mobile robot
KW - object specification
KW - person-following
UR - http://www.scopus.com/inward/record.url?scp=84908876243&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84908876243&partnerID=8YFLogxK
U2 - 10.1109/WAC.2014.6936012
DO - 10.1109/WAC.2014.6936012
M3 - Conference contribution
AN - SCOPUS:84908876243
T3 - World Automation Congress Proceedings
SP - 490
EP - 495
BT - World Automation Congress Proceedings
PB - IEEE Computer Society
Y2 - 3 August 2014 through 7 August 2014
ER -