An Integrated Object Detection and Tracking Framework for Mobile Robots

Juel, William Kristian; Haarslev, Frederik; Krüger, Norbert

doi:10.5220/0009888405130520

Cited by 6 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Alternatively, Cao et al [166] proposed an Open-Pose system for human skeleton pose estimation from RGB images. In another work, Juel et al [169] presented a multiobject tracking system that can be adapted to work with any detector and utilize streams from multiple cameras. They implemented a procedure of projecting RGB-D-based detections to the robot's base frame that are later transformed to the global frame using a localization algorithm.…”

Section: Human Detection and Trackingmentioning

confidence: 99%

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Karwowski,

Szynkiewicz,

Niewiadomska-Szynkiewicz

2024

Sensors

View full text Add to dashboard Cite

Navigation lies at the core of social robotics, enabling robots to navigate and interact seamlessly in human environments. The primary focus of human-aware robot navigation is minimizing discomfort among surrounding humans. Our review explores user studies, examining factors that cause human discomfort, to perform the grounding of social robot navigation requirements and to form a taxonomy of elementary necessities that should be implemented by comprehensive algorithms. This survey also discusses human-aware navigation from an algorithmic perspective, reviewing the perception and motion planning methods integral to social navigation. Additionally, the review investigates different types of studies and tools facilitating the evaluation of social robot navigation approaches, namely datasets, simulators, and benchmarks. Our survey also identifies the main challenges of human-aware navigation, highlighting the essential future work perspectives. This work stands out from other review papers, as it not only investigates the variety of methods for implementing human awareness in robot control systems but also classifies the approaches according to the grounded requirements regarded in their objectives.

show abstract

Section: Human Detection and Trackingmentioning

confidence: 99%

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Karwowski,

Szynkiewicz,

Niewiadomska-Szynkiewicz

2024

Sensors

View full text Add to dashboard Cite

show abstract

“…The developed system consists of various vision modules to extract information from the environment and format the information so that it can be used by the robot to make decisions and perform actions. The core module is a multicamera multi-detector tracking-by-detection system (Juel et al, 2020), designed specifically for mobile robots. It takes the output from any number of RGB-D sensors and processes it using a set of detectors, for example, the human detector shown in Figure 6A.…”

Section: Visual Modules: Human Detection Body Pose Estimation Object and Gaze Detectionmentioning

confidence: 99%

The SMOOTH-Robot: A Modular, Interactive Service Robot

Krüger

Fischer²,

Manoonpong

et al. 2021

Front. Robot. AI

Self Cite

View full text Add to dashboard Cite

The SMOOTH-robot is a mobile robot that—due to its modularity—combines a relatively low price with the possibility to be used for a large variety of tasks in a wide range of domains. In this article, we demonstrate the potential of the SMOOTH-robot through three use cases, two of which were performed in elderly care homes. The robot is designed so that it can either make itself ready or be quickly changed by staff to perform different tasks. We carefully considered important design parameters such as the appearance, intended and unintended interactions with users, and the technical complexity, in order to achieve high acceptability and a sufficient degree of utilization of the robot. Three demonstrated use cases indicate that such a robot could contribute to an improved work environment, having the potential to free resources of care staff which could be allocated to actual care-giving tasks. Moreover, the SMOOTH-robot can be used in many other domains, as we will also exemplify in this article.

show abstract

“…Aside from the experiments above, real-world experiments were also conducted to test the performance of the algorithm on noisy inputs. The experiment setup consisted of a mobile robot [22] with a 3D human pose estimation capability [23] and 9 humans standing around the robot in different Fformations in a 70m 2 area (fig. 6).…”

Section: Real World Experiments On Robotmentioning

confidence: 99%

Enabling Robots to Adhere to Social Norms by Detecting F-Formations

Kollakidou

Naik

Palinko

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

Self Cite

View full text Add to dashboard Cite

Robot navigation in environments shared with humans should take into account social structures and interactions. The identification of social groups has been a challenge for robotics as it encompasses a number of disciplines. We propose a hierarchical clustering method for grouping individuals into free standing conversational groups (FSCS), utilising their position and orientation. The proposed method is evaluated on the SALSA dataset with achieved F1 score of 0.94. The algorithm is also evaluated for scalability and implemented on a mobile robot attempting to detect social groups and engage in interaction.

show abstract

An Integrated Object Detection and Tracking Framework for Mobile Robots

Cited by 6 publications

References 0 publications

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

The SMOOTH-Robot: A Modular, Interactive Service Robot

Enabling Robots to Adhere to Social Norms by Detecting F-Formations

Contact Info

Product

Resources

About