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Robust Robot Tracking for Next-Generation Collaborative Robotics-based Gaming Environments
IEEE Transactions on Emerging Topics in Computing ( IF 5.9 ) Pub Date : 2020-07-01 , DOI: 10.1109/tetc.2017.2769705
Giovanni Piumatti , Fabrizio Lamberti , Andrea Sanna , Paolo Montuschi

The collaboration between humans and robots is one of the most disruptive and challenging research areas. Even considering advances in design and artificial intelligence, humans and robots could soon ally to perform together a number of different tasks. Robots could also became new playmates. In fact, an emerging trend is associated with the so-called phygital gaming, which builds upon the idea of merging the physical world with a virtual one in order to let physical and virtual entities, such as players, robots, animated characters and other game objects interact seamlessly as if they were all part of the same reality. This paper specifically focuses on mixed reality gaming environments that can be created by using floor projection, and tackles the issue of enabling accurate and robust tracking of off-the-shelf robots endowed with limited sensing capabilities. The proposed solution is implemented by fusing visual tracking data gathered via a fixed camera in a smart environment with odometry data obtained from robot's on-board sensors. The solution has been tested within a phygital gaming platform in a real usage scenario, by experimenting with a robotic game that exhibits many challenging situations which would be hard to manage using conventional tracking techniques.

中文翻译:

用于下一代基于协作机器人的游戏环境的强大机器人跟踪

人类与机器人之间的合作是最具破坏性和挑战性的研究领域之一。即使考虑到设计和人工智能的进步,人类和机器人很快也可以联合起来执行许多不同的任务。机器人也可以成为新的玩伴。事实上,一种新兴趋势与所谓的物理游戏相关,它建立在将物理世界与虚拟世界融合的想法之上,以便让物理和虚拟实体,例如玩家、机器人、动画角色和其他游戏对象无缝交互,就好像它们都是同一个现实的一部分。本文特别关注可以使用地板投影创建的混合现实游戏环境,并解决了对传感能力有限的现成机器人进行准确和稳健跟踪的问题。所提出的解决方案是通过将智能环境中通过固定摄像头收集的视觉跟踪数据与从机器人的车载传感器获得的里程计数据进行融合来实现的。该解决方案已经在真实使用场景中的物理游戏平台中进行了测试,通过对机器人游戏进行试验,该游戏展示了许多使用传统跟踪技术难以管理的具有挑战性的情况。
更新日期:2020-07-01
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