Towards Elderly Assistance Identification for Service Robot Using Combination of Mappings

Abstract

Identifying request or task for assistance in an elderly or retirement home is a challenge for service robot. It is an essential task for service robot to give their services along with human. Identifying human position in an environment, such as elderly home, is the most challenging task, as it involves static and dynamic object. During its operation, a service robot must avoid collision to objects, and also prepares path for its journey. This work makes use of RGB-D camera, such as Kinect, to identify the static and dynamic object via 3D maps. To manage its path finding, the prediction of people location and position is enabled via Long Term and Short Term Memory been implemented in Real-Time Appearance Based Mapping. The loop closure detection with real time constraints wrapping the collected information that uses RGB-D SLAM method. To identify the human position and flow, a technique of pedestrian detection is added to find group of people, which will gain more understanding on how human will interact to robot. We have demonstrated the work of this initial work by generating 3D point cloud for specific environment through an intensive mapping experiments.