Social Mapping of Human-Populated Environments by Implicit Function Learning

Panagiotis Papadakis 1, * Anne Spalanzani 1, * Christian Laugier 1, *
* Auteur correspondant
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : With robots technology shifting towards entering human populated environments, the need for augmented perceptual and planning robotic skills emerges that complement to human presence. In this integration, perception and adaptation to the implicit human social conventions plays a fundamental role. Toward this goal, we propose a novel framework that can model context-dependent human spatial interactions, encoded in the form of a social map. The core idea of our approach resides in modelling human personal spaces as non-linearly scaled probability functions within the robotic state space and devise the structure and shape of a social map by solving a learning problem in kernel space. The social borders are subsequently obtained as isocontours of the learned implicit function that can realistically model arbitrarily complex social interactions of varying shape and size. We present our experiments using a rich dataset of human interactions, demonstrating the feasibility and utility of the proposed approach and promoting its application to social mapping of human-populated environments.
Type de document :
Communication dans un congrès
IEEE International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan. 2013
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00860618
Contributeur : Panagiotis Papadakis <>
Soumis le : mardi 10 septembre 2013 - 17:46:21
Dernière modification le : vendredi 18 mai 2018 - 01:26:49
Document(s) archivé(s) le : jeudi 6 avril 2017 - 17:18:32

Fichier

Social-Mapping-of-Human-Popula...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00860618, version 1

Collections

Citation

Panagiotis Papadakis, Anne Spalanzani, Christian Laugier. Social Mapping of Human-Populated Environments by Implicit Function Learning. IEEE International Conference on Intelligent Robots and Systems, 2013, Tokyo, Japan. 2013. 〈hal-00860618〉

Partager

Métriques

Consultations de la notice

480

Téléchargements de fichiers

384