Preliminary Investigation of Collision Risk Assessment with Vision for Selecting Targets Paid Attention to by Mobile Robot

Masaaki Hayashi, Tamon Miyake*, Mitsuhiro Kamezaki, Junji Yamato, Kyosuke Saito, Taro Hamada, Eriko Sakurai, Shigeki Sugano, Jun Ohya

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Vision plays an important role in motion planning for mobile robots which coexist with humans. Because a method predicting a pedestrian path with a camera has a trade-off relationship between the calculation speed and accuracy, such a path prediction method is not good at instantaneously detecting multiple people at a distance. In this study, we thus present a method with visual recognition and prediction of transition of human action states to assess the risk of collision for selecting the avoidance target. The proposed system calculates the risk assessment score based on recognition of human body direction, human walking patterns with an object, and face orientation as well as prediction of transition of human action states. First, we investigated the validation of each recognition model, and we confirmed that the proposed system can recognize and predict human actions with high accuracy ahead of 3 m. Then, we compared the risk assessment score with video interviews to ask a human whom a mobile robot should pay attention to, and we found that the proposed system could capture the features of human states that people pay attention to when avoiding collision with other people from vision.

Original languageEnglish
Title of host publicationRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication
Subtitle of host publicationSocial, Asocial, and Antisocial Robots
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages624-629
Number of pages6
ISBN (Electronic)9781728188591
DOIs
Publication statusPublished - 2022
Event31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022 - Napoli, Italy
Duration: 2022 Aug 292022 Sep 2

Publication series

NameRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication: Social, Asocial, and Antisocial Robots

Conference

Conference31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022
Country/TerritoryItaly
CityNapoli
Period22/8/2922/9/2

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Social Psychology
  • Communication
  • Artificial Intelligence
  • Computer Science Applications

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