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

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication
ホスト出版物のサブタイトルSocial, Asocial, and Antisocial Robots
出版社Institute of Electrical and Electronics Engineers Inc.
ページ624-629
ページ数6
ISBN(電子版)9781728188591
DOI
出版ステータスPublished - 2022
イベント31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022 - Napoli, Italy
継続期間: 2022 8月 292022 9月 2

出版物シリーズ

名前RO-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
国/地域Italy
CityNapoli
Period22/8/2922/9/2

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • 社会心理学
  • 通信
  • 人工知能
  • コンピュータ サイエンスの応用

フィンガープリント

「Preliminary Investigation of Collision Risk Assessment with Vision for Selecting Targets Paid Attention to by Mobile Robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル