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chairs and small items did not usually have a significant influence on the localization quality, as long
as discrepancies with respect to the static map were limited. Removing or changing furniture that
provided relevant geometrical references present in the map, however, led to serious differences, es-
pecially in narrow areas and corners with little space to recover while moving. Detecting when the
robot isactually lostandtryingtoapplyautonomousrecoverymethodsareverychallengingproblems
that require specific research.
6. Functionsusage
Table 1 provides results on how often different functions were used in the user trials conducted in
Vienna. Preliminary results show that most of the users evaluated these functions overall as “Good”,
but there were also important failures and negative comments. Results in the lab were significantly
betterandwethinkthat likelyreasonsarerelatedtothefollowingfacts: therewasmoretimeforsetup,
preparationandimprovements; theenvironmentiseasierandbetterknown;weknowthesystembetter
than the real users; robot transportation and long term operation can degrade platform performance
andcalibrations, etc.
Table1. FUNCTIONS USAGEDURING THETRIALS
User GoTo CallRobot Recharge
Used Cancelled Used Cancelled Used
V1 89 33 340 190 49
V2 29 8 172 81 186
V3 18 5 74 21 126
V4 46 26 97 75 16
V5 117 24 71 42 88
V6 386 85 146 60 312
V7 41 17 349 263 168
7. Conclusionsandfuturework
This paper presented a summary of contributions and findings for navigation tasks of care robots
operating in real home environments, using an RGB-D based sensor setup. Increased flexibility and
adaptability over existing solutions were provided for the tasks execution, also addressing different
limitationsof the sensorsused.
Our experience indicates that autonomous RGB-D navigation in real home environments is usually
feasible and is much appreciated but presents drawbacks, open problems and further challenges. Di-
rections for futureworkwerealreadyhighlighted in thepaper.
References
[1] R. Ambrus, N. Bore, J. Folkesson, and P. Jensfelt. Meta-rooms: Building and maintaining long
term spatial models in a dynamic world. In Proc. of IEEE/RSJ International Conference on
IntelligentRobots andSystems (IROS), 2014.
163
Proceedings
OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Titel
- Proceedings
- Untertitel
- OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Autoren
- Peter M. Roth
- Kurt Niel
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wels
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-527-0
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 248
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände