A Study of Localization Algorithm of HRI System based on 3D Depth Sensor through Capstone Design

캡스톤 디자인을 통한 3D Depth 센서 기반 HRI 시스템의 위치추정 알고리즘 연구

  • Received : 2016.10.28
  • Accepted : 2016.11.15
  • Published : 2016.11.30

Abstract

The Human Robot Interface (HRI) based on 3D depth sensor on the docent robot is developed and the localization algorithm based on extended Kalman Filter (EKFLA) are proposed through the capstone design by graduate students in this paper. In addition to this, the performance of the proposed EKFLA is also analyzed. The developed HRI system consists of the route generation and localization algorithm, the user behavior pattern awareness algorithm, the map data generation and building algorithm, the obstacle detection and avoidance algorithm on the robot control modules that control the entire behaviors of the robot. It is confirmed that the improvement ratio of the localization error in EKFLA on the scenarios 1-3 is increased compared with the localization algorithm based on Kalman Filter (KFLA) as 21.96%, 25.81% and 15.03%, respectively.

Keywords

Robot;Extended Kalman Filter;Kinect;Human-Robot Interaction;Localization

Acknowledgement

Supported by : 한국연구재단

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