From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art

Research in the field of social robotics is allowing service robots to operate in environments with people. In the aim of realizing the vision of humans and robots coexisting in the same environment, several solutions have been proposed to (1) perceive persons and objects in the immediate environmen...

Descripción completa

Detalles Bibliográficos
Autores: Medina Sánchez, Carlos, Zella, Matteo, Capitán Fernández, Jesús, Marrón, P. J.
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/134362
Acceso en línea:https://hdl.handle.net/11441/134362
https://doi.org/10.3390/s22031191
Access Level:acceso abierto
Palabra clave:Motion prediction
Social navigation
Service robotics
Path planning
Sensors
id ES_40321ec197fa18e5d4ea3617e2a773b5
oai_identifier_str oai:idus.us.es:11441/134362
network_acronym_str ES
network_name_str España
repository_id_str
spelling From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the ArtMedina Sánchez, CarlosZella, MatteoCapitán Fernández, JesúsMarrón, P. J.Motion predictionSocial navigationService roboticsPath planningSensorsResearch in the field of social robotics is allowing service robots to operate in environments with people. In the aim of realizing the vision of humans and robots coexisting in the same environment, several solutions have been proposed to (1) perceive persons and objects in the immediate environment; (2) predict the movements of humans; as well as (3) plan the navigation in agreement with socially accepted rules. In this work, we discuss the different aspects related to social navigation in the context of our experience in an indoor environment. We describe state-of-the-art approaches and experiment with existing methods to analyze their performance in practice. From this study, we gather first-hand insights into the limitations of current solutions and identify possible research directions to address the open challenges. In particular, this paper focuses on topics related to perception at the hardware and application levels, including 2D and 3D sensors, geometric and mainly semantic mapping, the prediction of people trajectories (physics-, pattern- and planning-based), and social navigation (reactive and predictive) in indoor environments.MDPIIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y Control2022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/134362https://doi.org/10.3390/s22031191reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésSensors, 22 (3), 1191.https://www.mdpi.com/1424-8220/22/3/1191info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1343622026-06-17T12:51:07Z
dc.title.none.fl_str_mv From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
title From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
spellingShingle From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
Medina Sánchez, Carlos
Motion prediction
Social navigation
Service robotics
Path planning
Sensors
title_short From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
title_full From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
title_fullStr From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
title_full_unstemmed From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
title_sort From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art
dc.creator.none.fl_str_mv Medina Sánchez, Carlos
Zella, Matteo
Capitán Fernández, Jesús
Marrón, P. J.
author Medina Sánchez, Carlos
author_facet Medina Sánchez, Carlos
Zella, Matteo
Capitán Fernández, Jesús
Marrón, P. J.
author_role author
author2 Zella, Matteo
Capitán Fernández, Jesús
Marrón, P. J.
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
dc.subject.none.fl_str_mv Motion prediction
Social navigation
Service robotics
Path planning
Sensors
topic Motion prediction
Social navigation
Service robotics
Path planning
Sensors
description Research in the field of social robotics is allowing service robots to operate in environments with people. In the aim of realizing the vision of humans and robots coexisting in the same environment, several solutions have been proposed to (1) perceive persons and objects in the immediate environment; (2) predict the movements of humans; as well as (3) plan the navigation in agreement with socially accepted rules. In this work, we discuss the different aspects related to social navigation in the context of our experience in an indoor environment. We describe state-of-the-art approaches and experiment with existing methods to analyze their performance in practice. From this study, we gather first-hand insights into the limitations of current solutions and identify possible research directions to address the open challenges. In particular, this paper focuses on topics related to perception at the hardware and application levels, including 2D and 3D sensors, geometric and mainly semantic mapping, the prediction of people trajectories (physics-, pattern- and planning-based), and social navigation (reactive and predictive) in indoor environments.
publishDate 2022
dc.date.none.fl_str_mv 2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/134362
https://doi.org/10.3390/s22031191
url https://hdl.handle.net/11441/134362
https://doi.org/10.3390/s22031191
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Sensors, 22 (3), 1191.
https://www.mdpi.com/1424-8220/22/3/1191
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869406726275465216
score 15.198674

Similares en LA Referencia