Full Text:   <267>

Summary:  <109>

CLC number: TP242.6

On-line Access: 2019-08-29

Received: 2018-05-03

Revision Accepted: 2018-07-30

Crosschecked: 2019-08-09

Cited: 0

Clicked: 699

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Mei-qin Liu

http://orcid.org/0000-0003-0693-6574

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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.8 P.1036-1048

10.1631/FITEE.1800275


Finding misplaced items using a mobile robot in a smart home environment


Author(s):  Qi Wang, Zhen Fan, Wei-hua Sheng, Sen-lin Zhang, Mei-qin Liu

Affiliation(s):  College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   liumeiqin@zju.edu.cn

Key Words:  Home service robot, Smart home, Heterogeneous sensors, Autonomous robot retrieval


Qi Wang, Zhen Fan, Wei-hua Sheng, Sen-lin Zhang, Mei-qin Liu. Finding misplaced items using a mobile robot in a smart home environment[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(8): 1036-1048.

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Abstract: 
smart homes can provide complementary information to assist home service robots. We present a robotic misplaced item finding (MIF) system, which uses human historical trajectory data obtained in a smart home environment. First, a multi-sensor fusion method is developed to localize and track a resident. Second, a path-planning method is developed to generate the robot movement plan, which considers the knowledge of the human historical trajectory. Third, a real-time object detector based on a convolutional neural network is applied to detect the misplaced item. We present MIF experiments in a smart home testbed and the experimental results verify the accuracy and efficiency of our solution.

智能家居环境中基于移动机器人的失物搜索

摘要:智能家居可提供补充信息以帮助家居服务机器人。本文利用智能家居环境中机器人所获取的历史轨迹数据,提出一种机器人失物搜索(MIF)系统。首先,提出一种多传感器融合方法定位和跟踪用户。其次,利用人物历史轨迹所包含的知识,提出一种路径规划方法生成机器人搜索路径。再次,应用一种基于卷积神经网络的实时物体检测单元检测目标丢失物品。基于搭建的智能家居测试平台进行MIF系统相关实验。最后,实验结果验证了所提方案的准确性和有效性。

关键词:家居服务机器人;智能家居;异质传感器;机器人自主失物搜索

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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