In order to meet the increasing demands of mobile service robot applications, a dedicated perception module is an essential requirement for the interaction with users in real-world scenarios. In particular, multi sensor fusion and human re-identification are recognized as active research fronts. Through this paper we contribute to the topic and present a modular detection and tracking system that models position and additional properties of persons in the surroundings of a mobile robot. The proposed system introduces a probability-based data association method that besides the position can incorporate face and color-based appearance features in order to realize a re-identification of persons when tracking gets interrupted. The system combines the results of various state-of-the-art image-based detection systems for person recognition, person identification and attribute estimation. This allows a stable estimate of a mobile robot’s user, even in complex, cluttered environments with long-lasting occlusions. In our benchmark, we introduce a new measure for tracking consistency and show the improvements when face and appearance-based re-identification are combined. The tracking system was applied in a real world application with a mobile rehabilitation assistant robot in a public hospital. The estimated states of persons are used for the user-centered navigation behaviors, e.g., guiding or approaching a person, but also for realizing a socially acceptable navigation in public environments.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A multi-modal person perception framework for socially interactive mobile service robots


    Beteiligte:

    Erscheinungsdatum :

    2020-01-28



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    004 / 629




    Embodiment in socially interactive robots

    Deng, Eric / Mutlu, Bilge / Matarić, Maja J. | TIBKAT | 2019


    Parameterized facial animation for socially interactive robots

    Wittig, Steffen / Rätsch, Matthias / Kloos, Uwe | BASE | 2015

    Freier Zugriff

    A Probabilistic Framework for Multi-modal Multi-Person Tracking

    Checka, Neal / Wilson, Kevin / Rangarajan, Vibhav et al. | IEEE | 2003


    Socially Reactive Navigation Models for Mobile Robots in Dynamic Environments

    de Sousa Ribeiro, Ricarte / Moreno, Plinio | Springer Verlag | 2024


    Global Multi-Perspective Perception for Autonomous Mobile Robots

    Katkere, A. / Moezzi, S. / Jain, R. et al. | British Library Conference Proceedings | 1995