Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 33, Issue 2, Pages 500-506Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2645206
Keywords
Atypical behavior detection; human-robot interaction; pedestrian models
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Funding
- Japan Science and Technology Agency through the Core Research for Evolutional Science and Technology program
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In this work, we were interested in creating a robot service for offering help to people who appear to be in need for guidance. In order to achieve that, we first developed a technique to detect pedestrians who walk in an atypical way (e.g., people who do not know their way). In our approach, a motion model of typical pedestrians developed in our previous work was used, and a novel predictability feature was defined that quantifies how well can a person's future position be predicted using that model. The classification method based on this feature gave accurate results and outperformed alternative methods. Using this detection method, we created a robot service for offering guidance to people who were classified as atypical. Experiments done in a shopping mall have shown that the robot was successful in choosing the people to approach, and the reactions from users in the interviews were very positive.
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