Autonomous Robotic Escort Incorporating Motion Prediction and Human Intention
Dean Conte Tomonari Furukawa Dean Conte Tomonari Furukawa
This paper presents a technique that allows a robot to escort a human to their destination. Unlike tracking where the robot follows the human from behind, the proposed technique locates the robot in front of the human by incorporating human intention in addition to conventional motion prediction. Human head pose is used as an effective past-proven implicit indicator of intention. A particle filter...