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首页> 外文会议>Conference on sensors and smart structures technologies for civil, mechanical, and aerospace systems >A Study on a Robot Chasing a Human Using Kinect While Identifying Walking Parameters Using the Back View
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A Study on a Robot Chasing a Human Using Kinect While Identifying Walking Parameters Using the Back View

机译：机器人在通过后视识别步行参数时使用Kinect追踪人类的研究

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Recently, the demand of the building spaces to respond to increase of single aged households and the diversification of life style is increasing. Smart house is one of them, but it is difficult for them to be changed and renovated. Therefore, we suggest Biofied builing. In biofied building, we use a mobile robot to get concious and unconcious information about residents and try to make it more secure and comfort builing spaces by realizing the intraction between residents and builing spaces. Walking parameters are one of the most important unconscious information about residents. They are an indicator of autonomy of elderly, and changes of stride length and walking speed may be pridictive of a future fall and a cognitive impairment. By observing their walking and informing residents their walking state, they can forestall such dangers and it helps them to live more securely and autonomously. Many methods to estimate walking parameters have been studied. The famous ones are to use accelerometers and a motion capture camera. Walking parameters estimated by them are high precise but the sensors are attached to a human body in these method and it can make human's walk different from the original walk. Furthermore, some elderly feel it to invade them. In this work, Kinect which can get information about human untouchably was used on the mobile robot. A stride time, stride length, and walking speed were estimated from the back view of human by following him or her. Evaluation was done for 10m, 5m, 4m, and 3m in whole walking. As a result, the proposal system can estimate walking parameters of the walk more than 3m.
机译：近来，建筑物空间对增加单身家庭和生活方式多样化的需求正在增加。智能房屋就是其中之一，但是很难对其进行改造和翻新。因此，我们建议使用Biofied建筑物。在生物化建筑中，我们使用移动机器人来获取有关居民的意识和不意识的信息，并通过实现居民与建筑空间之间的相互吸引，使其变得更加安全和舒适。步行参数是有关居民的最重要的无意识信息之一。它们是老年人自主性的指标，步幅和步速的变化可能取决于将来的跌倒和认知障碍。通过观察他们的步行并告知居民他们的步行状态，他们可以避免这种危险，并且可以帮助他们更加安全和自主地生活。已经研究了许多估计步行参数的方法。著名的是使用加速度计和运动捕捉相机。他们估计的步行参数是高精度的，但是传感器通过这种方法连接到人体，因此可以使人的步行与原始步行有所不同。此外，一些老年人感到入侵他们。在这项工作中，在移动机器人上使用了Kinect，该Kinect可以无接触地获取有关人类的信息。通过跟随人的背影来估计步幅时间，步幅长度和步行速度。对整个步行过程中的10m，5m，4m和3m进行了评估。结果，提议系统可以估计大于3m的步行的步行参数。

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