Development of an attendant robot that builds a map by collaborating with a human

This paper describes an efficient indoor map building method that involves a robot collaborating with a human. A robot acquires the shape of a required part of an indoor environment, searches for a suitable picture from the scene of the destination, and registers it as a picture landmark at the same...

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Bibliographic Details
Published inRO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication pp. 322 - 327
Main Authors Nakamoto, H., Nishiyama, M., Ozaki, F., Matsuhira, N.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2009
Subjects
Cameras
Human robot interaction
Indoor environments
International collaboration
Mobile robots
Navigation
Orbital robotics
Robot vision systems
Robotics and automation
Shape
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Summary:This paper describes an efficient indoor map building method that involves a robot collaborating with a human. A robot acquires the shape of a required part of an indoor environment, searches for a suitable picture from the scene of the destination, and registers it as a picture landmark at the same time as the robot follows the human. Once a picture landmark is registered on a map, a robot finds it and can self-localize from the next navigation. The validity of the proposed method is demonstrated by experiments carried out on an actual mobile robot ldquoApriAttendatraderdquo, developed by Toshiba.
ISSN:1944-9445
1944-9437
DOI:10.1109/ROMAN.2009.5326324