Virtual Borders: Accurate Definition of a Mobile Robot's Workspace Using a RGB-D Google Tango Tablet.
Dennis Sprute, Klaus D. Tönnies, Matthias König · arXiv (Cornell University) · 2017
We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since they want to keep the control of their mobile robots, such as vacuum cleaning or companion robots. Therefore, we introduce virtual borders that are respected by a robot while performing its tasks. For this purpose, we employ a RGB-D Google Tango tablet as human-robot interface to flexibly specify virtual borders in the environment. We evaluated our system concerning correctness, accuracy and teaching effort, and compared the results with other baseline methods. Our method features an equally-high accuracy while reducing the teaching effort by a factor of 3.1 compared to the baseline.