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Interactive indoor environment mapping through visual tracking of human skeleton

Zhao, Cheng and Pan, Wei and Hu, osheng (2013) 'Interactive indoor environment mapping through visual tracking of human skeleton.' International Journal of Modelling, Identification and Control, 20 (4). p. 319. ISSN 1746-6172

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This paper presents a novel human-robot interaction approach to grid mapping of an indoor environment based on a 3D kinect sensor and the grid-based mapping algorithm. It mainly includes three modules: skeleton tracking, robot control and GMapping. Firstly, the skeleton tracking module builds a human skeleton model, extracts the skeleton joints' position information from 3D visual data and generates digital signals through identifying some simple motions and events. Then according to different digital signals and joints' position information, the robot control module enables the robot to take different actions such as following the person, stop and so on. Finally, the grid map of the environment is built through GMapping algorithm based on odometry and laser data, which is improved by Rao-Blackwellised particle filters. The proposed approach has been implemented successfully in several different buildings and can be applied to service robots. Compared with traditional roaming for mapping, human guiding the robot for mapping is more efficient and takes less time in a complicated environment. Meanwhile, compared with wearable motion sensors attached to the human body, this approach is more convenient and make the user more comfortable. Copyright © 2013 Inderscience Enterprises Ltd.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 09 Sep 2014 11:17
Last Modified: 15 Jan 2022 00:45

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