Covy: ソーシャルディスタンス違反検知のための複合視覚システムを備えたAIロボット
Covy: An AI-powered Robot with a Compound Vision System for Detecting Breaches in Social Distancing
安価なカメラと複合視覚アルゴリズムで最大15m先の人物を検出し、深層強化学習と確率的自己位置推定を組み合わせたロバストなナビゲーションを実現した低コスト移動ロボットCovyを開発した。
著者: Serge Saaybi, Amjad Yousef Majid, R Venkatesha Prasad, Anis Koubaa, Chris Verhoeven
分類: cs.RO, cs.AI
原文アブストラクト
This paper introduces a compound vision system that enables robots to localize people up to 15m away using a cheap camera. And, it proposes a robust navigation stack that combines Deep Reinforcement Learning (DRL) and a probabilistic localization method. To test the efficacy of these systems, we prototyped a low-cost mobile robot that we call Covy. Covy can be used for applications such as promoting social distancing during pandemics or estimating the density of a crowd. We evaluated Covy's performance through extensive sets of experiments both in simulated and realistic environments. Our results show that Covy's compound vision algorithm doubles the range of the used depth camera, and its hybrid navigation stack is more robust than a pure DRL-based one.
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