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A hierarchical approach for updating targeted person states in human-following mobile robots

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Abstract

In the human-following task, the human detection, tracking and identification are fundamental steps to help the mobile robot to follow and maintain an appropriate distance and orientation to the selected target person (STP) without any threatenings. Recently, along with the widespread development of robots in general and service robots in particular, not only the safety, but the flexibility, the naturality and the sociality in applications of human-friendly services and collaborative tasks are also increasingly demanded with a higher level. This request poses more challenges in robustly detecting, tracking and identifying the STP since the human–robot cooperation is more complex and unpredictable. Obviously, the safe natural robot behavior cannot be ensured if the STP is lost or the robot misidentified its target. In this paper, a hierarchical approach is presented to update the states of the STP more robustly during the human-following task. This method is proposed with the goal of achieving good performance (robust, accurate and fast response) to serve safe natural robot behaviors, with modest hardware. The proposed system is verified by a set of experiments, and shown reasonable results.

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Acknowledgements

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Funding

This work was supported by the Research Program funded by the Seoul National University of Science and Technology.

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Authors and Affiliations

  1. Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Seoul, South Korea

    Nguyen Van Toan, Sy-Hung Bach & Soo-Yeong Yi

Authors
  1. Nguyen Van Toan
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  2. Sy-Hung Bach
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  3. Soo-Yeong Yi
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Corresponding author

Correspondence to Soo-Yeong Yi.

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Appendix

Appendix

“Seq” indicates the sequence of the events, “Time” indicates the moment when the action starts in the experiment, and “Snapshot” indicates the time instant in which the action starts in the video.

1.1 Appendix 1: Sequence of events of the experiment in this paper (in the demo video)

Seq

Time (mm:ss)

Action

Snapshot (mm:ss)

1

00:00

Only use 2D-LiDAR sensor. The robot detects and tracks its STP and other persons appeared in its detection range

https://www.youtube.com/watch?v=D17h_oRf_cs&t=0s 00:00

2

00:13

Only use 2D-LiDAR sensor. The robot is tracking the STP when he is too close to environmental objects

https://www.youtube.com/watch?v=D17h_oRf_cs&t=13s 00:13

3

00:29

Only use 2D-LiDAR sensor. The robot misidentified its STP. The identification number of the STP is switched to the environmental object

https://www.youtube.com/watch?v=D17h_oRf_cs&t=29s 00:29

4

00:35

Hierarchical approach. The STP moves too close to environmental objects. Then, the robot activates the visual human detection

https://www.youtube.com/watch?v=D17h_oRf_cs&t=35s 00:35

5

00:55

Hierarchical approach. The STP moves far from environmental objects. Nothing around the STP, then visual-based modules are deactivated

https://www.youtube.com/watch?v=D17h_oRf_cs&t=55s 00:55

6

01:20

Hierarchical approach. Other people are close to the STP. The robot activates the visual human detection and face identification to identify its correct STP

https://www.youtube.com/watch?v=D17h_oRf_cs&t=80s 01:20

7

01:53

Hierarchical approach. Other people are close to the STP. Firstly, the robot activates the human detection and face identification to identify its STP. If there is no STP’s face, then the body identification is activated

https://www.youtube.com/watch?v=D17h_oRf_cs&t=113s 01:53

8

02:37

Hierarchical approach. There are no other people and environmental objects near the STP. The robot then deactivates visual-based modules

https://www.youtube.com/watch?v=D17h_oRf_cs&t=157s 02:37

9

02:46

Hierarchical approach. During the visual identification procedure, the STP is tracked (2D RGB human tracking and 3D PCL tracking) to match with tracked human-leg after the visual identification finished

https://www.youtube.com/watch?v=D17h_oRf_cs&t=165s 02:46

10

02:58

The STP data collection for the visual identification procedure

https://www.youtube.com/watch?v=D17h_oRf_cs&t=178s 02:58

1.2 Appendix 2: Effects and CPU consumptions of sub-methods in the visual identification procedure of the “Appendix 1”

Seq

Time (mm:ss)

Action

Snapshot (mm:ss)

1

00:00

Only the visual-based human detection is activated

https://www.youtube.com/watch?v=1jlm8ZWK_pA&t=0s 00:00

2

00:31

Visual-based human detection and body identification are activated

https://www.youtube.com/watch?v=1jlm8ZWK_pA&t=31s 00:31

3

01:24

Only the face identification is activated

https://www.youtube.com/watch?v=1jlm8ZWK_pA&t=84s 01:24

1.3 Appendix 3: Sequences of the flexible heading during the human–robot cooperation (presented in [17, 18])

Seq

Time (mm:ss)

Action

Snapshot (mm:ss)

1

00:00 (in [17])

The robot changes its moving heading flexibly when its STP change his moving directions and his sides with respect to the robot local coordinates, in [17]

https://www.youtube.com/watch?v=5EJiJUNxSCU&t=0s 00:00

2

03:40 (in [17])

The human-following task is harassed by other people, in [17]

https://www.youtube.com/watch?v=5EJiJUNxSCU&t=220s 03:40

3

00:00

  

(in [18])

The robot follows and supports the STP to take food trays in the office

https://www.youtube.com/watch?v=YGrWU6ldKuw&t=0s 00:00

 

4

01:00 (in [18])

The human–robot cooperation in narrow areas, and surrounded by many environmental objects and prohibited areas (in [18])

https://www.youtube.com/watch?v=YGrWU6ldKuw&t=60s 01:00

1.4 Appendix 4: Sequences of events of the experiment video of the object tracking using the fusion of 2D-LiDAR and RGB-D cameras.

Seq

Action

Snapshot (mm:ss)

1

The robot is not moving when detecting and tracking objects using only RGB-D cameras

https://www.youtube.com/watch?v=bi42fB3EfWA 00:00

2

The robot is not moving when detecting and tracking objects using only RGB-D cameras. Here, the visualization of the filtered 3D point cloud data is turned on

https://www.youtube.com/watch?v=bi42fB3EfWA&t=58s 00:58

3

The robot is not moving when detecting and tracking objects using the fusion of the 2D-LiDAR and RGB-D cameras

https://www.youtube.com/watch?v=z0FMGI5_tsg&t=0s 00:00

4

The robot is moving when detecting and tracking objects using the fusion of the 2D-LiDAR and RGB-D cameras

https://www.youtube.com/watch?v=z0FMGI5_tsg&t=50s 00:50

5

The robot is not moving when detecting and tracking objects using the fusion of the 2D-LiDAR and RGB-D cameras

https://www.youtube.com/watch?v=z0FMGI5_tsg&t=152s 02:32

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Van Toan, N., Bach, SH. & Yi, SY. A hierarchical approach for updating targeted person states in human-following mobile robots. Intel Serv Robotics 16, 287–306 (2023). https://doi.org/10.1007/s11370-023-00463-9

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