Contribution to vision-based localization, tracking and navigation methods for an interactive mobile service-robot

Abstract

The paper presents vision-based robot navigation and user localization techniques of our long-term research project PERSES (PERsonal SErvice System), which aims to develop an interactive mobile shopping assistant that allows a continuous and intuitively understandable interaction with customers in a home store. Against this background, the paper describes a number of new or improved approaches, addressing challenges arising from the characteristics of the operation area, and from the need to continuously interact with users in a complex environment. With our approaches to vision-based or visually-controlled map building, self-localization and navigation as well as user localization and tracking, we want to make a contribution to the real-world suitability of interactive mobile service-robots in non-trivial application areas and demanding human-robot interaction scenarios.

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

“…In [36], both laser and vision extracted features are augmented through the use of an EKF. A second more recent method for self-localization of a mobile robot is the Monte Carlo localization (MCL) approach, in [37], Gross et al described a vision-based localization method for a service robot in the PERSES project, which incorporates an MCL based approach, using an omni directional camera. In [38], Zingaretti and Frontoni describe a method of improving the overall accuracy of localization parameters using an implementation of fusion of omni-directional vision and sonar data based on MCL.…”

Design and Implementation of A Vision-Based Shopping Assistant Robot

“…Gross et al proposed the relevant researches of the shopping service robot in [12][13][14], they have implemented a shopping assistant robot which could communicate with people at the supermarket. The main functions of the robot consist of greeting, conversation, guiding and narration.…”

Utilization of mobile technology for mobile robot controller

“…Numerous robotics institutes and universities are focusing on intelligent mobile robot systems [1][2][3][4][5]. Robots can drive, walk, swim or fly.…”