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

Keisuke Sakai, Yutaka Hiroi, Akinori Ito

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationWorld Automation Congress Proceedings
PublisherIEEE Computer Society
Pages490-495
Number of pages6
ISBN (Electronic)9781889335490
DOIs
Publication statusPublished - 2014 Oct 24
Event2014 World Automation Congress, WAC 2014 - Waikoloa, United States
Duration: 2014 Aug 32014 Aug 7

Publication series

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

Other

Other2014 World Automation Congress, WAC 2014
CountryUnited States
CityWaikoloa
Period14/8/314/8/7

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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