Development of position estimation systems of mobile robots and humans for mobile intelligent spaces

Taichi Itoh, Kazuyuki Morioka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Intelligent spaces based on many networked sensors have been studied in recent years. Generally, it is not realistic to distribute and calibrate many fixed sensors in the spaces. In this study, mobile sensors that humans or mobile robots have such as wearable cameras are considered as networked sensors of the intelligent spaces. Such mobile sensors are effective for adaptive construction of intelligent spaces. The proposed mobile sensor builds 3D maps around human while human moves around the environments. Then, positions are estimated and tracked using the built map. On the other hand, a mobile robot generates the environmental maps and estimates self-positions using LRFs. That means that the robots can be also regarded as networked sensors of the intelligent spaces. This paper calls the proposed system with networked mobile sensors 'Mobile Intelligent Space'. This paper shows details of map building and position estimation for humans and robots. Results of these map building are also shown.

Original languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages198-203
Number of pages6
ISBN (Electronic)9781479953325
DOIs
Publication statusPublished - 1 Jan 2014
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 12 Nov 201415 Nov 2014

Publication series

Name2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014

Conference

Conference2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
CountryMalaysia
CityKuala Lumpur
Period12/11/1415/11/14

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Keywords

  • Intelligent space
  • Localization
  • Sensor Networks

Cite this

Itoh, T., & Morioka, K. (2014). Development of position estimation systems of mobile robots and humans for mobile intelligent spaces. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 198-203). [7057531] (2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057531