Abstract
In this paper we construct a small, low-cost, autonomous mobile robot that avoids humans in an office. It applies an SVM classifier to each of 16 regions of interest in each picture taken by its camera mounted toward the ceiling. Experiments with 1 and 2 subjects with 3 kinds of velocities show encouraging results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Burgard, W., Cremers, A., Fox, D., Hähnel, D., Lakemeyer, G., Schulz, D., Steiner, W., Thrun, S.: Experiences with an interactive museum tour-guide robot. Artif. Intell. 114(1-2), 3–55 (1999)
Jakobi, N., Husbands, P., Harvey, I.: Noise and the reality gap: the use of simulation in evolutionary robotics. In: Proceedings of the ECAL 1995, pp. 704–720, (1995)
Joachims, T.: Making Large-Scale Support Vector Machine Learning Practical, pp. 169–184. MIT Press, Cambridge (1999)
Nomdedeu, L., Sales, J., Cervera, E., Alemany, J., Sebastia, R., Penders, J., Gazi, V.: An experiment on squad navigation of human and robots. In: Proceedings of the ICARCV 2008, pp. 1212–1218. IEEE (2008)
Okada, K., Kagami, S., Inaba, M., Inoue, H.: Walking Human Avoidance and Detection from a Mobile Robot Using 3D Depth Flow. In Proc. ICRA 2001(3), 2307–2312 (2001)
Tamura, Y., Fukuzawa, T., Asama, H.: Smooth collision avoidance in human-robot coexisting environment. In Proc. IROS 2010, pp. 3887–3892 (2010)
Tsalatsanis, A., Valavanis, K., Yalcin, A.: Vision based target tracking and collision avoidance for mobile robots. J. Intell. Robotic Syst. 48(2), 285–304 (2007)
Vapnik, V.N.: The Nature of Statistical Learning Theory. Springer, New York (1995)
Acknowledgments
A part of this research was supported by Strategic International Cooperative Program funded by Japan Science and Technology Agency (JST) on the Japanese side and Agence Nationale de Recherches (ANR) on the French side.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag London Limited
About this paper
Cite this paper
Matsumoto, E., Sebag, M., Suzuki, E. (2011). Using SVM to Avoid Humans: A Case of a Small Autonomous Mobile Robot in an Office. In: Gelenbe, E., Lent, R., Sakellari, G. (eds) Computer and Information Sciences II. Springer, London. https://doi.org/10.1007/978-1-4471-2155-8_36
Download citation
DOI: https://doi.org/10.1007/978-1-4471-2155-8_36
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-2154-1
Online ISBN: 978-1-4471-2155-8
eBook Packages: EngineeringEngineering (R0)