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Doctoral Thesis Background:
Title: Automatic Initialization System for Home-based Robotics Service Environment
This research introduced an initialization system for robot service in order to support human daily-life activities at every individual home environment. Nowadays, robot service has become significant solution to the rising of elderly people in the sense that robot may help to ease or support their daily routines at home such as bring an object from one place to another or tidy-up the living space as well as storing the objects to the right place. Because of elderly people mostly spend their time at home daily, service robot is expected to co-exist with human so that robot can give assistive service to them. However, robot has to acknowledge the information embedded in the environment itself before introduce the robot service at actual 3D spaces. For instance, information on furniture location and arrangement at home may help the robot to perceive and recognize the object’s location that is located on or near the furniture surface. By using sensors attached to the objects in order to identify object’s location and along with service robot system itself, it is time and cost consuming to setup database of the first seen environment. This is one of the essential issues of daily life service robot. If the furniture’s information can be initialized before introducing robot service, it would be easy and effective to demonstrate it at first-seen environment which suits individual life-styles.
Methodology
Image processing of depth image and analysis of point cloud data
Robotics service environment is visualized based on layout software such as Microsoft Office Visio
Contribution
Developed a system plugin to link the information from depth camera and online catalogue in one platform for building up the 3D individual environment model.
Created an initialization system that is able to give several number of candidates for the furniture based on its category such as sofa, Tv bench and so on from the online catalogue.
Advantages of the initialization system
May benefit the robot service at home by need not to measure furniture dimension to get its physical 3D attributes since information like size and number of drawers can be automatically extracted from the furniture catalogue.
This initialization system could be a basis for many robot service applications and provide assistive service at every individual home easily and effectively.
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