Building topological maps by looking at people: an example ofcooperation between intelligent spaces and robots

摘要

Intelligent spaces are rooms or areas that are equipped withsensors such as microphones or cameras that enable them to perceive whatis happening in them. In such spaces that have an intelligence of theirown a world model no longer is something the robot has alone but aservice offered by the information infrastructure of the space. In thisarticle we show how such an intelligent space can generate a topologicalmap for robots by looking at the movements of people in the room. Wedescribe the stereo vision system that is capable of tracking the 3Dmovements of several humans in real time and give experimental resultsobtained in a real-world environment with several people