| |
Records |
Links |
|
Author |
Marta Diaz; Dennys Paillacho; Cecilio Angulo |
|
| |
Title |
Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. |
Type |
Journal Article |
| |
Year |
2015 |
Publication |
International Journal of Humanoid Robotics |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 12 |
Issue |
|
Pages |
|
|
| |
Keywords |
Group-robot interaction; robotic-guide; social navigation; space management; spatial formations; group walking behavior; crowd behavior |
|
| |
Abstract  |
This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
International Journal of Humanoid Robotics |
Place of Publication |
|
Editor |
|
|
| |
Language |
English |
Summary Language |
English |
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
34 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo |
|
| |
Title |
Monocular visual odometry: a cross-spectral image fusion based approach |
Type |
Journal Article |
| |
Year |
2016 |
Publication |
Robotics and Autonomous Systems Journal |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 86 |
Issue |
|
Pages |
pp. 26-36 |
|
| |
Keywords |
Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion |
|
| |
Abstract |
This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
Enlgish |
Summary Language |
English |
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
54 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ricaurte P; Chilán C; Cristhian A. Aguilera; Boris X. Vintimilla; Angel D. Sappa |
|
| |
Title |
Feature Point Descriptors: Infrared and Visible Spectra |
Type |
Journal Article |
| |
Year |
2014 |
Publication |
Sensors Journal |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 14 |
Issue |
|
Pages |
pp. 3690-3701 |
|
| |
Keywords |
cross-spectral imaging; feature point descriptors |
|
| |
Abstract |
This manuscript evaluates the behavior of classical feature point descriptors when they are used in images from long-wave infrared spectral band and compare them with the results obtained in the visible spectrum. Robustness to changes in rotation, scaling, blur, and additive noise are analyzed using a state of the art framework. Experimental results using a cross-spectral outdoor image data set are presented and conclusions from these experiments are given. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
English |
Summary Language |
English |
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
28 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Morocho-Cayamcela, M.E. & W. Lim |
|
| |
Title |
Lateral confinement of high-impedance surface-waves through reinforcement learning |
Type |
Journal Article |
| |
Year |
2020 |
Publication |
Electronics Letters |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 56 |
Issue |
23, 12 November 2020 |
Pages |
pp. 1262-1264 |
|
| |
Keywords |
|
|
| |
Abstract |
The authors present a model-free policy-based reinforcement learning
model that introduces perturbations on the pattern of a metasurface.
The objective is to learn a policy that changes the size of the
patches, and therefore the impedance in the sides of an artificially structured
material. The proposed iterative model assigns the highest reward
when the patch sizes allow the transmission along a constrained path
and penalties when the patch sizes make the surface wave radiate to
the sides of the metamaterial. After convergence, the proposed
model learns an optimal patch pattern that achieves lateral confinement
along the metasurface. Simulation results show that the proposed
learned-pattern can effectively guide the electromagnetic wave
through a metasurface, maintaining its instantaneous eigenstate when
the homogeneity is perturbed. Moreover, the pattern learned to
prevent reflections by changing the patch sizes adiabatically. The
reflection coefficient S1, 2 shows that most of the power gets transferred
from the source to the destination with the proposed design. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
English |
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
139 |
|
| Permanent link to this record |
