Autonomous Shopping Cart Platform for People with Mobility Impairments - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2012

Autonomous Shopping Cart Platform for People with Mobility Impairments

Résumé

Providing a platform able to interact with a spe- cific user is a challenging problem for assistance technologies. Among the many platforms accomplishing this task, we address the problem of designing an autonomous shopping cart. We assume that the shopping cart is set-up on a unicycle-like robot endowed with two sensors: an RGB-D camera and a planar laser range finder. To combine the information from these two sensors, a data fusion algorithm has been developed using a particle filter, augmented with a k-clustering step to extract person estimations. The problem of stabilizing the robot's position at a fixed distance from the user has been solved through classical control design. Results on a real mobile platform verify the effectiveness of the approach here proposed.
Fichier principal
Vignette du fichier
marchetti.pdf (947.63 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00766929 , version 1 (19-12-2012)

Identifiants

  • HAL Id : hal-00766929 , version 1

Citer

L. Marchetti, D. Pucci,, Pascal Morin. Autonomous Shopping Cart Platform for People with Mobility Impairments. Workshop at IROS'12 on Assistance and Service robotics in a human environment., Oct 2012, Villamoura, Portugal. ⟨hal-00766929⟩
375 Consultations
895 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More