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SLAM-Based Multistate Tracking System for Mobile Human-Robot Interaction

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Image Analysis and Recognition (ICIAR 2020)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 12131))

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Abstract

The transfer from the utilization of simple robots for specifically predefined tasks to the integration of generalized autonomous systems poses a number of challenges for the collaboration between humans and robots. These include the independent orientation of robots in unknown environments and the intuitive interaction with human cooperation partners. We present a robust human-robot interaction (HRI) system that proactively searches for interaction partners and follows them in unknown real environments. For this purpose, an algorithm for simultaneous localization and mapping of the environment is integrated along with a dynamic system for determination of the partner’s willingness and the tracking of the partner’s localization. Interruptions of interactions are recovered by a separate recovery mode that is able to identify prior collaboration partners.

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Notes

  1. 1.

    https://github.com/raulmur/ORB_SLAM2.

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This work is funded by the Federal Ministry of Education and Research (BMBF) (RoboAssist no. 03ZZ0448G-L) within 3Dsensation alliance.

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Authors and Affiliations

  1. Neuro-Information Technology (NIT), Otto-von-Guericke University Magdeburg, Universitaetsplatz 2, 39106, Magdeburg, Germany

    Thorsten Hempel & Ayoub Al-Hamadi

Authors
  1. Thorsten Hempel
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  2. Ayoub Al-Hamadi
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Corresponding authors

Correspondence to Thorsten Hempel or Ayoub Al-Hamadi .

Editor information

Editors and Affiliations

  1. University of Porto, Porto, Portugal

    Aurélio Campilho

  2. University of Waterloo, Waterloo, ON, Canada

    Fakhri Karray

  3. University of Waterloo, Waterloo, ON, Canada

    Zhou Wang

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Hempel, T., Al-Hamadi, A. (2020). SLAM-Based Multistate Tracking System for Mobile Human-Robot Interaction. In: Campilho, A., Karray, F., Wang, Z. (eds) Image Analysis and Recognition. ICIAR 2020. Lecture Notes in Computer Science(), vol 12131. Springer, Cham. https://doi.org/10.1007/978-3-030-50347-5_32

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  • DOI: https://doi.org/10.1007/978-3-030-50347-5_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-50346-8

  • Online ISBN: 978-3-030-50347-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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