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Basic human-robot interaction system running on an embedded platform

机译：在嵌入式平台上运行的基本人体机器人交互系统

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Robotics will be a dominant area in society throughout future generations. Its presence is currently increasing in most daily life settings, with devices and mechanisms that facilitate the accomplishment of diverse tasks, as well as in work scenarios, where machines perform more and more jobs. This increase in the presence of autonomous robotic systems in society is due to their great efficiency and security compared to human capacity, which is thanks mainly to the enormous precision of their sensor and actuator systems. Among these, vision sensors are of the utmost importance. Humans and many animals naturally enjoy powerful perception systems, but, in robotics, this constitutes a constant line of research. In addition to having a high capacity for reasoning and decision-making, these robots incorporate important advances in their perceptual systems, allowing them to interact effectively in the working environments of this new industrial revolution. Drawing on the most basic interaction between humans, looking at the face, an innovative system is presented in this paper, which was developed for an autonomous and DIY robot. This system is composed of three modules. First, the face detection component, which detects human faces in the current image. Second, the scene representation algorithm, which offers a wider field of view than that of the single camera used, mounted on a servo-pan unit. Third, the active memory component, which was designed and implemented according to two competing dynamics: life and salience. The algorithm intelligently moves the servo-pan unit with the aim of finding new faces, follow existing ones and forgetting those that no longer appear on the scene. The system was developed and validated using a low-cost platform based on a Raspberry Pi3 board.
机译：机器人学将在未来几代人中成为社会的主导地区。它的存在目前在大多数日常生活环境中都在增加，具有促进各种任务的设备和机制，以及机器执行越来越多的工作的工作场景。社会中自治机器人系统的存在的这种增加是由于它们与人类能力相比的效率和安全性，这主要是其传感器和执行器系统的巨大精度。其中，视觉传感器至关重要。人类和许多动物自然享有强大的感知系统，而是在机器人学中，这构成了恒定的研究线。除了具有高度的推理和决策外，这些机器人还纳入了他们的感知系统的重要进步，使他们能够在这一新工业革命的工作环境中有效地互动。绘制了人类之间最基本的互动，看着脸部，这篇论文提出了一种创新的系统，这是为自主和DIY机器人开发的。该系统由三个模块组成。首先，面部检测部件检测当前图像中的人面。其次，场景表示算法，它提供比安装在伺服平移单元上的单个相机的更广泛的视野。第三，根据两个竞争动态设计和实施的主动内存组件：生命和显着性。该算法智能地移动伺服平底锅单元，目的是找到新面孔，遵循现有面，忘记那些不再出现在场景上的目标。使用基于覆盆子PI3板的低成本平台开发和验证该系统。

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