The Four-Layer Model for Structuring Environmental information
We propose a new model for trating environmental information seamlessly throughout indoor and outdoor environemnts (see Figure). This model is composed by the following 4 layers: 1) sensor data layer, 2) segmenting layer, 3) primitive layer and 4) service application layer. This model shows a general framework for robotic services based on the position of the persons.
First the positions of the people are obtained by various sensors, such as cameras or RFID-tag readers, settled in the environments or installed in the robots (Sensor data layer). These position data are then integrated and converted to a standard position format (Segmenting Layer). These two layers are used for people positining. The segnmenting layer outputs position data in the standard format, such as (100, 20,1) / ID=245. This position data is also bundled with error estimation.
From these position data, primitives are generated (Primitive Layer). A primitive is a descriptor which shows the status of person or space. "A crowded place" (spatial primitive) or "standing still" (behavioral primitive) are two examples of primitives.
Using the outputs from Segmenting Layer and Primitive Layer, a robotic service flow is described in the Service-Application Layer, such as 'approach a person who is standing still in a crowded place, and lead that person."
As for people positioning, numbers of studies have already been performed in the past. These results, however, are not always fast or robust enough for real-world use. Real time operation , robustness and reliability are keys issues for people positioning in this project.
Structuring Environmental Information
A method for extracting primitives automatically from stored trajectories will be developed, with some visualization system.
Construction of the Common Platform System
The construction of the playform system will be proceeded in coorporation with related organizations or research projects. By letting others use this platform, we can evaluate and brush up the specification required for such a platform system.