乐胖代购免代理版

{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,20]],"date-time":"2024-08-20T15:56:01Z","timestamp":1724169361280},"reference-count":28,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2019,7,17]],"date-time":"2019-07-17T00:00:00Z","timestamp":1563321600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"Estimating distances between people and robots plays a crucial role in understanding social Human\u2013Robot Interaction (HRI) from an egocentric view. It is a key step if robots should engage in social interactions, and to collaborate with people as part of human\u2013robot teams. For distance estimation between a person and a robot, different sensors can be employed, and the number of challenges to be addressed by the distance estimation methods rise with the simplicity of the technology of a sensor. In the case of estimating distances using individual images from a single camera in a egocentric position, it is often required that individuals in the scene are facing the camera, do not occlude each other, and are fairly visible so specific facial or body features can be identified. In this paper, we propose a novel method for estimating distances between a robot and people using single images from a single egocentric camera. The method is based on previously proven 2D pose estimation, which allows partial occlusions, cluttered background, and relatively low resolution. The method estimates distance with respect to the camera based on the Euclidean distance between ear and torso of people in the image plane. Ear and torso characteristic points has been selected based on their relatively high visibility regardless of a person orientation and a certain degree of uniformity with regard to the age and gender. Experimental validation demonstrates effectiveness of the proposed method.<\/jats:p>","DOI":"10.3390\/s19143142","type":"journal-article","created":{"date-parts":[[2019,7,17]],"date-time":"2019-07-17T15:25:12Z","timestamp":1563377112000},"page":"3142","source":"Crossref","is-referenced-by-count":17,"title":["A Novel Method for Estimating Distances from a Robot to Humans Using Egocentric RGB Camera"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-9686-9127","authenticated-orcid":false,"given":"Sai Krishna","family":"Pathi","sequence":"first","affiliation":[{"name":"Center for Applied Autonomous Sensor Systems (AASS), School of Natural Science and Technology, \u00d6rebro University, 701 82 \u00d6rebro, Sweden"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-0305-3728","authenticated-orcid":false,"given":"Andrey","family":"Kiselev","sequence":"additional","affiliation":[{"name":"Center for Applied Autonomous Sensor Systems (AASS), School of Natural Science and Technology, \u00d6rebro University, 701 82 \u00d6rebro, Sweden"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-4368-4751","authenticated-orcid":false,"given":"Annica","family":"Kristoffersson","sequence":"additional","affiliation":[{"name":"School of Innovation, Design and Engineering, M\u00e4lardalen University, 721 23 V\u00e4ster\u00e5s, Sweden"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-7173-5579","authenticated-orcid":false,"given":"Dirk","family":"Repsilber","sequence":"additional","affiliation":[{"name":"School of Medical Sciences, \u00d6rebro University, Campus US\u00d6, 701 82 \u00d6rebro, Sweden"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-3122-693X","authenticated-orcid":false,"given":"Amy","family":"Loutfi","sequence":"additional","affiliation":[{"name":"Center for Applied Autonomous Sensor Systems (AASS), School of Natural Science and Technology, \u00d6rebro University, 701 82 \u00d6rebro, Sweden"}]}],"member":"1968","published-online":{"date-parts":[[2019,7,17]]},"reference":[{"key":"ref_1","unstructured":"Hall, E. (1966). The Hidden Dimension: Man\u2019s Use of Space in Public and in Private, The Bodley Head Ltd."},{"key":"ref_2","unstructured":"Kendon, A. (1990). 7 Spatial organization in social encounters: The F-formation system. Conducting Interaction: Patterns of Behavior in Focused Encounters, Cambridge University Press."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Esposito, A., Campbell, N., Vogel, C., Hussain, A., and Nijholt, A. (2010). Spacing and orientation in co-present interaction. Development of Multimodal Interfaces: Active Listening and Synchrony, Second COST 2102 International Training School, Springer. Lecture Notes in Computer Science Volume 5967.","DOI":"10.1007\/978-3-642-12397-9"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Pathi, S.K., Kiselev, A., and Loutfi, A. (2017, January 6\u20139). Estimating f-formations for mobile robotic telepresence. Proceedings of the 12th ACM\/IEEE International Conference on Human-Robot Interaction (HRI 2017), Vienna, Austria.","DOI":"10.1145\/3029798.3038304"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2013\/902316","article-title":"A Review of Mobile Robotic Telepresence","volume":"2013","author":"Kristoffersson","year":"2013","journal-title":"Adv. Hum.-Comput. Interact."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Shoani, M.T.A., Amin, S.H., and Sanhoury, I.M. (June, January 31). Determining subject distance based on face size. Proceedings of the 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, Kota Kinabalu, Malaysia.","DOI":"10.1109\/ASCC.2015.7244491"},{"key":"ref_7","unstructured":"Wang, T.H., Hsu, C.C., Chen, C.C., Huang, C.W., and Lu, Y.C. (2009, January 10\u201312). Three-dimensional measurement of a remote object with a single CCD camera. Proceedings of the ICARA 2009\u20144th International Conference on Autonomous Robots and Agents, Wellington, New Zealand."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Gao, X., Zheng, M., and Meng, M.Q.H. (2015, January 6\u20139). Humanoid robot locomotion control by posture recognition for human-robot interaction. Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China.","DOI":"10.1109\/ROBIO.2015.7418995"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Di Nuovo, A., Conti, D., Trubia, G., Buono, S., and Di Nuovo, S. (2018). Deep learning systems for estimating visual attention in robot-assisted therapy of children with autism and intellectual disability. Robotics, 7.","DOI":"10.3390\/robotics7020025"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1016\/S0921-8890(02)00271-3","article-title":"Using infrared sensors for distance measurement in mobile robots","volume":"40","author":"Benet","year":"2002","journal-title":"Robot. Auton. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"3334","DOI":"10.1109\/TIM.2011.2128950","article-title":"Robust high-accuracy ultrasonic range measurement system","volume":"60","author":"Saad","year":"2011","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Xing, G., Tian, S., Sun, H., Liu, W., and Liu, H. (2013, January 25\u201327). People-following system design for mobile robots using kinect sensor. Proceedings of the 2013 25th Chinese Control and Decision Conference (CCDC), Guiyang, China.","DOI":"10.1109\/CCDC.2013.6561495"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4082","DOI":"10.1016\/j.patcog.2015.06.006","article-title":"Understanding social relationships in egocentric vision","volume":"41","author":"Alletto","year":"2015","journal-title":"Pattern Recognit."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"13767","DOI":"10.1007\/s11042-018-6568-2","article-title":"A unifying representation for pixel-precise distance estimation","volume":"78","author":"Bianco","year":"2019","journal-title":"Multimed. Tools Appl."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1007\/s12369-009-0036-0","article-title":"Multi-model hypothesis group tracking and group size estimation","volume":"2","author":"Lau","year":"2010","journal-title":"Int. J. Soc. Robot."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1007\/s12369-011-0099-6","article-title":"Human body pose interpretation and classification for social human-robot interaction","volume":"3","author":"Mccoll","year":"2011","journal-title":"Int. J. Soc. Robot."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"335","DOI":"10.1007\/s12369-013-0192-0","article-title":"Easy Interface and Control of Tele-education Robots","volume":"5","author":"Yun","year":"2013","journal-title":"Int. J. Soc. Robot."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/s12369-018-0474-7","article-title":"Estimating Children\u2019s Social Status Through Their Interaction Activities in Classrooms with a Social Robot","volume":"11","author":"Komatsubara","year":"2019","journal-title":"Int. J. Soc. Robot."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1007\/s12369-013-0199-6","article-title":"A Survey on Perception Methods for Human-Robot Interaction in Social Robots","volume":"6","author":"Yan","year":"2014","journal-title":"Int. J. Soc. Robot."},{"key":"ref_20","unstructured":"Nedevschi, S., Schmidt, R., Danescu, R., Frentiu, D., Marita, T., Graf, T., Oniga, F., and Pocol, C. (2004, January 14\u201317). High accuracy stereo vision system for far distance obstacle detection. Proceedings of the IEEE Intelligent Vehicles Symposium, Parma, Italy."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1007\/s12555-011-9205-7","article-title":"Distance estimation using inertial sensor and vision","volume":"11","author":"Suh","year":"2013","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"K\u00f6nig, I., Beau, P., and David, K. (2014, January 2\u20134). A new context: Screen to face distance. Proceedings of the International Symposium on Medical Information and Communication Technology, ISMICT, Firenze, Italy.","DOI":"10.1109\/ISMICT.2014.6825217"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Fleet, D., Pajdla, T., Schiele, B., and Tuytelaars, T. (2014). Distance estimation of an unknown person from a portrait. Proceedings of the European Conference on Computer Vision, ECCV 2014, Springer. Lecture Notes in Computer Science, Volume 8689.","DOI":"10.1007\/978-3-319-10590-1"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1038\/scientificamerican0280-132","article-title":"The perception of human growth","volume":"242","author":"Todd","year":"1980","journal-title":"Sci. Am."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Cao, Z., Simon, T., Wei, S.E., and Sheikh, Y. (2017, January 21\u201326). Realtime multi-person 2D pose estimation using part affinity fields. Proceedings of the 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017, Honolulu, HI, USA.","DOI":"10.1109\/CVPR.2017.143"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Teichman, A., Miller, S., and Thrun, S. (2013, January 24\u201328). Unsupervised Intrinsic Calibration of Depth Sensors via SLAM. Proceedings of the Robotics: Science and Systems IX, Berlin, Germany.","DOI":"10.15607\/RSS.2013.IX.027"},{"key":"ref_27","first-page":"613","article-title":"Tests for departure from normality. Empirical results for the distributions of b2 and \u221ab1","volume":"60","author":"Pearson","year":"1973","journal-title":"Biometrika"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1109\/TSMCC.2004.826268","article-title":"Social interactions in HRI: The robot view","volume":"34","author":"Breazeal","year":"2004","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/14\/3142\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,6,19]],"date-time":"2024-06-19T04:30:50Z","timestamp":1718771450000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/14\/3142"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,17]]},"references-count":28,"journal-issue":{"issue":"14","published-online":{"date-parts":[[2019,7]]}},"alternative-id":["s19143142"],"URL":"https:\/\/doi.org\/10.3390\/s19143142","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,17]]}}}