| Project/Area Number |
22700206
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Chuo University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2010: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Keywords | 知覚情報処理 / 知能ロボティクス / 空間知能化 / 人の活動観測 / 時系列データのクラスタリング |
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| Research Abstract |
(1) An approach to extract human walking paths independently from the orientation of the paths in a global coordinate system is proposed. More specifically, we propose a similarity measurement based on AMSS(Angular Metrics for Shape Similarity), and then classify human walking paths using a hierarchical clustering method. Experimental results show that the proposed approach achieves rotation invariant extraction of human walking paths.
(2) A method to build a map including mobile objects' movement in living environments is proposed. To describe movement history of humans and objects, we detect moving objects from scan data using a laser range finder. The method does not need any background information. Weighting values of each cell on a gird map are calculated based on direction and velocity of movements.
(3) The observation system and iSpace are implemented based on Open Robot Technology Middleware(RT-Middleware) to integrate them with a robotics devices embedded environment. This can be used for a platform to build users' activity models and estimate human activity.
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