Ippei Samejima

A body dimensions estimation method of subject from a few measurement items using KINECT

This paper describes a method to estimate a set of body dimensions of a subject using the Microsoft KINECT sensor. Principal Component Analysis(PCA) of the AIST anthropometric database shows first and second principal components are interpreted as scale and degree of obesity respectively. A few body dimensions were chosen by linear multiple regression analysis. Applying the resulting estimator to a given subject using the KINECT sensor to obtain joint positions and 3 body dimensions by analyzing depth image, we can estimate a set of body dimensions for the subject. The system is described and experimental results are shown.

Building Environmental Maps of Human Activity for a Mobile Service Robot at the ”Miraikan” Museum

This paper describes environmentmaps that are comprised of the following three types of information, 1) 3D environmental changes that represents human activities, 2) human trajectories in 2D that represent how humans move in the environment, and 3) human posture data. These maps are utilized in order to plan safer, quicker and/or non-human-disturbingpaths for a mobile service robot at themuseum “Miraikan”. Experiments are conducted within “Miraikan” and results are shown.

Map integration of human trajectory with sitting/standing position using LRF and Kinect sensor

This paper presents a service oriented map that includes a) environment shape, b) human walking trajectory, and c) human sitting/standing position. Such information is important for a robot that provides services to human beings. Environmental shape (a) and human walking trajectory (b) are obtained by LRF. Human sitting/standing position (c) is obtained from Microsoft Kinect sensor by actively positioning and orienting the sensor to confirm human posture. A combined algorithm to obtain an integrated map is described, and experimental results follow.