應用多感測器之融合於人機互動之人員偵測與追蹤系統

Sensor Fusion Based Human Detection and Tracking System for Human-Robot Interaction

王祈翔(Kai-Siang Ong)

指導教授 ： 傅立成

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2012年)

https://doi.org/10.6342/NTU.2012.00588

摘要

無資料

關鍵字

人員行為意圖推論 ； 感測器融合系統 ； 協方差交叉 ； 機器人反應行為決策 ； 人機互動

並列摘要

Service robot has received enormous attention with rapid development of high technology in recent years, and it is endowed with the capabilities of interacting with people and performing human-robot interaction (HRI). For this purpose, the Sampling Importance Resampling (SIR) particle filter is adopted to implement the laser and visual based human tracking system when dealing with human-robot interaction (HRI) in real world environment. The sequence of images and the geometric information from measurements are provided by the vision sensor and the laser range finder (LRF), respectively.
We construct a sensor fusion based system to integrate the information from both sensors by using a data association approach – Covariance Intersection (CI). It will be used to increase the robustness and reliability of human in the real world environment. In this thesis, we propose a Behavior System for analyze human features and classify the behavior by the crucial information from sensor fusion based system. The system is used to infer the human behavioral intentions, and also allow the robot to perform more natural and intelligent interaction. We apply a spatial model based on proxemics rules to our robot, and design a behavioral intention inference strategy. Furthermore, the robot will make the corresponding reaction in accordance with the identified behavioral intention. This work concludes with several experimental results with a robot in indoor environment, and promising performance has been observed.

並列關鍵字

human behavior intention inference ； sensor fusion based system ； Covariance Intersection(CI) ； robot reaction decision ； human-robot interaction

參考文獻

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