Generating human motion transition map in indoor environment and analyzing human behavior by geographical clustering

Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

In recent years, robots working in human living space with human-robot interactions are actively studied. To these robots, it is important to perform environmental cognition not only building environment map for autonomous motion of the robots but also estimating presences of human around the robots. In this study, by utilizing human state estimation function and SLAM based mapping technology, a concept and architecture of Human Motion Map by representing human behavior in the human living space as a hybrid map system are proposed. Beyond the conventional map which represents the existence of wall and objects, Human Motion Map represents not only the existence of humans in a particular location but also motion distributions. With recent improvements of the cloud computing technology, Human Motion Map can be accumulated as a kind of big data while measurements of robots are performed continuingly while it is moving around. In this paper, we propose a motion feature classification algorithm for clustering human motions geographically. Some experiment result of basic motion feature extraction, geographical clustering, and human motion behavior analyzing are provided for illustrating the validity of proposed algorithm.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3700-3705
ページ数6
ISBN(電子版)9781479936854, 9781479936854
DOI
出版ステータスPublished - 2014 9月 22
外部発表はい
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
継続期間: 2014 5月 312014 6月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
国/地域China
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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