摘要
Smart homes can provide complementary information to assist home service robots.We present a robotic misplaced item finding(MIF)system,which uses human historical trajectory data obtained in a smart home environment.First,a multi-sensor fusion method is developed to localize and track a resident.Second,a path-planning method is developed to generate the robot movement plan,which considers the knowledge of the human historical trajectory.Third,a real-time object detector based on a convolutional neural network is applied to detect the misplaced item.We present MIF experiments in a smart home testbed and the experimental results verify the accuracy and efficiency of our solution.
智能家居可提供补充信息以帮助家居服务机器人。本文利用智能家居环境中机器人所获取的历史轨迹数据,提出一种机器人失物搜索(MIF)系统。首先,提出一种多传感器融合方法定位和跟踪用户。其次,利用人物历史轨迹所包含的知识,提出一种路径规划方法生成机器人搜索路径。再次,应用一种基于卷积神经网络的实时物体检测单元检测目标丢失物品。基于搭建的智能家居测试平台进行MIF系统相关实验。最后,实验结果验证了所提方案的准确性和有效性。
基金
Project supported by the Basic Public Research Program of Zhejiang Province,China(No.LGF18F030001)
the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University,China(No.ICT1800414)
