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Autonomous Shopping Cart Platform for People with Mobility Impairments
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.
Cited literature [13 references]
https://hal.inria.fr/hal-00766929
Contributor : Eric Marchand <>
Submitted on : Wednesday, December 19, 2012 - 11:28:53 AM
Last modification on : Tuesday, June 15, 2021 - 4:29:26 PM
Long-term archiving on: : Wednesday, March 20, 2013 - 11:33:34 AM
Contributor : Eric Marchand <>
Submitted on : Wednesday, December 19, 2012 - 11:28:53 AM
Last modification on : Tuesday, June 15, 2021 - 4:29:26 PM
Long-term archiving on: : Wednesday, March 20, 2013 - 11:33:34 AM
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marchetti.pdf
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