Pose estimation and adaptive robot behaviour for human-robot interaction

摘要

This paper introduces a new method to determine a person's pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and time extended interaction between a mobile robot and a human. The robot uses observed information from a laser range finder to detect persons and their position relative to the robot. This information together with the motion of the robot itself is fed through a Kalman filter, which utilizes a model of the human kinematic movement to produce an estimate of the person's pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The behaviour of the robot is based on adaptive potential functions adjusted accordingly such that the persons social spaces are respected. The method is tested in experiments that demonstrate the potential of the combined pose estimation and adaptive behaviour approach.