利用超宽带定位在大型且易遮挡环境中采集人体运动数据
Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization
AI总结：
本文研究利用超宽带定位技术在大型易遮挡环境中采集人体运动数据，结合眼动追踪、LiDAR和雷达等多模态传感器，在模拟博物馆场景中收集超过130分钟数据，为超越视觉系统的可扩展运动数据采集奠定基础。
摘要：
随着机器人日益融入人类环境，理解和预测人体运动对于安全高效的交互至关重要。现代人体运动与活动预测方法需要高质量、大规模的数据用于训练和评估，这些数据通常来自运动捕捉系统、机载传感器或固定传感器。搭建这些系统面临诸多挑战，包括硬件组件的复杂安装、繁琐的标定流程、遮挡问题以及高昂的成本。这些限制使得在新型大型环境中部署此类系统变得困难，并限制了它们在野外测量中的可用性。本文研究了应用新型超宽带（UWB）定位技术作为一种可扩展的替代方案，用于在拥挤且易遮挡的环境中进行人体运动捕捉的可能性。我们引入了额外的感知模态，如眼动追踪、机器人机载LiDAR和雷达传感器，并记录运动捕捉数据作为评估和比较的真值。实验环境模拟博物馆场景，最多四名活跃参与者以自然方式朝随机目标导航，并提供超过130分钟的多模态数据。我们的研究朝着超越基于视觉系统的可扩展且精确的运动数据采集迈出了一步，为在仓库、机场或会展中心等更大且复杂的环境中评估超宽带等感知模态奠定了基础。
英文摘要：
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and quantity of data for training and evaluation, usually collected from motion capture systems, onboard or stationary sensors. Setting up these systems is challenging due to the intricate setup of hardware components, extensive calibration procedures, occlusions, and substantial costs. These constraints make deploying such systems in new and large environments difficult and limit their usability for in-the-wild measurements. In this paper we investigate the possibility to apply the novel Ultra-Wideband (UWB) localization technology as a scalable alternative for human motion capture in crowded and occlusion-prone environments. We include additional sensing modalities such as eye-tracking, onboard robot LiDAR and radar sensors, and record motion capture data as ground truth for evaluation and comparison. The environment imitates a museum setup, with up to four active participants navigating toward random goals in a natural way, and offers more than 130 minutes of multi-modal data. Our investigation provides a step toward scalable and accurate motion data collection beyond vision-based systems, laying a foundation for evaluating sensing modalities like UWB in larger and complex environments like warehouses, airports, or convention centers.
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