床上センシングシステムを用いた生活環境における移動物体の位置計測と居住者の行動推定

Translated title of the contribution: Measurement of Moving Objects and Estimation of Human Behavior Using Floor Sensing System in Daily Life Environment

長谷川 勉, ユンソク ピョ, 田中 真英, 辻 徳生, 諸岡 健一, 倉爪 亮

Research output: Contribution to journalArticle

Abstract

This paper describes a method of measuring moving objects and estimating human behaviors in a room using only one laser range finder (LRF) installed in the room and a strip of mirror attached to a side wall close to a floor. The area of sensing is limited to a plane parallel to and just a few centimeters above the floor, thus covering the whole room with minimal invasion of privacy of a resident while reducing occlusion. The important feature of the measurement consists in processing of both distance and reflectance acquired by the LRF from the surface of the existing objects. This enables immediate distinction of clusters of objects made of different materials in the analysis of the scene cluttered with objects. The human behavior models are effectively utilized to estimate human behavior from LRF data. The experimental results validate the effectiveness of the proposed method.
Original languageJapanese
Pages (from-to)769-779
Number of pages11
Journal日本ロボット学会誌
Volume31
Issue number8
DOIs
Publication statusPublished - Oct 15 2013

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