灵巧家庭环境中移动机器人工作空间的交互约束
Interactive Restriction of a Mobile Robot's Workspace in a Smart Home Environment
摘要：
虚拟边界被用来允许人类在以人为中心的环境中交互和灵活地限制他们的移动机器人的活动，例如从工作空间中排除隐私区域或指示某些工作区域。他们已经成功地指定在交互过程中使用的方法，从人机交互。然而，这些方法往往缺乏一个富有表现力的反馈系统，被限制到机器人的板上的互动能力，并需要一个直接的视线之间的人和机器人。这会对用户体验和交互时间产生负面影响。因此，我们研究了智能环境对虚拟边界教学的影响，目的是提高机器人的感知和交互能力。为此，我们提出了一种新的互动方法的基础上的激光笔，利用灵巧家庭环境中的互动过程。该交互方法包括用于灵巧家庭环境的架构，该架构被设计为支持交互过程、在交互过程中人、机器人和智能环境的合作、包括用于感知激光光斑的固定和移动相机的合作感知以及用于从多个相机观察中提取虚拟边界的算法。实验评估的结果支持我们的假设，我们的新的交互方法具有显着更短的交互时间和更好的用户体验相比，没有支持的智能环境的方法。此外，该交互方法不会负面地影响关于完整性和准确性的其他用户要求。
英文摘要：
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for working. They have been successfully specified in interaction processes using methods from human-robot interaction. However, these methods often lack an expressive feedback system, are restricted to robot's on-board interaction capabilities and require a direct line of sight between human and robot. This negatively affects the user experience and interaction time. Therefore, we investigate the effect of a smart environment on the teaching of virtual borders with the objective to enhance the perceptual and interaction capabilities of a robot. For this purpose, we propose a novel interaction method based on a laser pointer, that leverages a smart home environment in the interaction process. This interaction method comprises an architecture for a smart home environment designed to support the interaction process, the cooperation of human, robot and smart environment in the interaction process, a cooperative perception including stationary and mobile cameras to perceive laser spots and an algorithm to extract virtual borders from multiple camera observations. The results of an experimental evaluation support our hypotheses that our novel interaction method features a significantly shorter interaction time and a better user experience compared to an approach without support of a smart environment. Moreover, the interaction method does not negatively affect other user requirements concerning completeness and accuracy.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
