TY  - CONF
ID  - mergarsal_APPIS_2019_appro
T1  - Socially Acceptable Approach to Humans by a Mobile Robot
A1  - Garcia-Salguero, Mercedes
A1  - Monroy, Javier
A1  - Solano, Alejandro
A1  - Gonzalez-Jimenez, Javier
TI  - International Conference on Applications of Intelligent Systems (APPIS)
Y1  - 2019
CY  - Las Palmas de Gran Canaria (Spain)
M2  - doi: 10.1145/3309772.3309793
KW  - Computer Vision
KW  - Human Pose Estimation
KW  - Human-Robot Interaction
KW  - mobile robot
KW  - OpenPose
KW  - People Approach
KW  - People Detector
KW  - Proxemic
KW  - ROS
N2  - In this paper we propose a solution to endow a mobile robot with the ability to approach humans in a safe and 
 ocially acceptable way. Our proposal focuses on real world indoor environments where the usual presence of 
 ultiple humans and obstacles notably rise the complexity of the approach action. We first deal with the problem of accurately estimating the 3D poses of all humans in the work space (positions and orientations), to then focus on the estimation of the most appropriate navigation goal from which the robot should start the interaction with the user. For the latter, we define a cost function that, accounting for multiple proxemic parameters and complying with the restrictions inherent of a robot navigating in a human environment, enables ascertaining an optimal solution. Different experiments are presented to demonstrate the feasibility of our proposal to work under real world conditions.
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