Long-term human affordance maps

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

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルIROS Hamburg 2015 - Conference Digest
ホスト出版物のサブタイトルIEEE/RSJ International Conference on Intelligent Robots and Systems
出版者Institute of Electrical and Electronics Engineers Inc.
ページ5748-5754
ページ数7
ISBN(電子版)9781479999941
DOI
出版物ステータスPublished - 2015 12 11
イベントIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
継続期間: 2015 9 282015 10 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2015-December
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Germany
Hamburg
期間15/9/2815/10/2

ASJC Scopus subject areas

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

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  • これを引用

    Limosani, R., Morales, L. Y., Even, J., Ferreri, F., Watanabe, A., Cavallo, F., Dario, P., & Hagita, N. (2015). Long-term human affordance maps. : 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; 巻数 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354193