Autonomous Shopping Cart Platform for People with Mobility Impairments

L. Marchetti 1 D. Pucci, 2 Pascal Morin 3
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 AROLAG - Advanced Image Understanding and Autonomous Systems
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : 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.
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Communication dans un congrès
Workshop at IROS'12 on Assistance and Service robotics in a human environment., Oct 2012, Villamoura, Portugal. 2012
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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. 2012. 〈hal-00766929〉

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