Robust sensor fusion for finding HRI partners in a crowd
Shokoofeh Pourmehr, Jack Thomas, Jake Bruce, Jens Wawerla, Richard Vaughan
Abstract
We present a simple probabilistic framework for multimodal sensor fusion that allows a mobile robot to reliably locate and approach the most promising interaction partner among a group of people, in an uncontrolled environment. Our demonstration integrates three complementary sensor modalities, each of which detects features of nearby people. The output is an occupancy grid approximation of a probability density function over the locations of people that are actively seeking interaction with the robot. We show empirically that simply driving towards the peak of this distribution is sufficient to allow the robot to correctly engage an interested user in a crowd of bystanders.
BibTeX
@inproceedings{icra2017_robustsensorfusi,
title = {Robust sensor fusion for finding HRI partners in a crowd},
author = {Shokoofeh Pourmehr and Jack Thomas and Jake Bruce and Jens Wawerla and Richard Vaughan},
booktitle = {ICRA 2017},
year = {2017}
}