TY - GEN
T1 - Human-guided robot 3D mapping using virtual reality technology
AU - Du, Jianhao
AU - Sheng, Weihua
AU - Liu, Meiqin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Map building is a fundamental task in many robotic applications. In this paper, we propose a novel approach for 3D mapping of indoor environments which allows a robot avatar to collaborate with a human seamlessly through a virtual reality (VR) device. The 3D map is created using the 3D data from an RGB-D camera mounted on the robot and simultaneously transmitted to a remote server, and then rendered to the VR device. On the other hand, the intentions of the user are inferred using the motion of the head movement based on hidden Markov models (HMMs), and then interpreted into commands to control the robot. We implement the proposed approach based on a modified Pioneer robot platform. The experimental results show the feasibility of the proposed system.
AB - Map building is a fundamental task in many robotic applications. In this paper, we propose a novel approach for 3D mapping of indoor environments which allows a robot avatar to collaborate with a human seamlessly through a virtual reality (VR) device. The 3D map is created using the 3D data from an RGB-D camera mounted on the robot and simultaneously transmitted to a remote server, and then rendered to the VR device. On the other hand, the intentions of the user are inferred using the motion of the head movement based on hidden Markov models (HMMs), and then interpreted into commands to control the robot. We implement the proposed approach based on a modified Pioneer robot platform. The experimental results show the feasibility of the proposed system.
UR - https://www.scopus.com/pages/publications/85006367223
U2 - 10.1109/IROS.2016.7759680
DO - 10.1109/IROS.2016.7759680
M3 - 会议稿件
AN - SCOPUS:85006367223
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4624
EP - 4629
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -