Safe Robot Navigation in Indoor Healthcare Workspaces

Eleftherios G. Vourkos, Evropi Toulkeridou, Antreas Kourris, Raquel Julia Ros, Eftychios G. Christoforou, Nacim Ramdani, Andreas S. Panayides

Producció científica: Capítol de llibreContribució a congrés/conferènciaAvaluat per experts


Healthcare workspaces would greatly benefit from the employment of robotic assistants in both clinical and non-clinical tasks. However, despite their advantages, a major shortcoming for the deployment of robots limiting their widespread acceptance by the market is the fact that existing robotic solutions were originally designed for large industrial and warehouse spaces. These are characterized by structured spaces and predictable environments, where robots move along predefined paths and interaction with humans is typically not required. Herein, we examine state-of-the-art computer vision methods that enable robots to detect the presence and identify the type of dynamic obstacles inside their visual field and adapt their navigation accordingly. To achieve this goal, we trained our robots using contemporary deep learning methods (namely YOLO-You Only Look Once architecture and its variations) and obtained promising results in both human and robot detection. For that purpose, a newly constructed dataset consisting of robot images was used, complementing the well-known COCO dataset. Overall, the present study contributes towards the key objective of safe robot navigation in healthcare spaces and underpins the wider application of studies on Human-Robot Interaction in less structured environments.

Idioma originalAnglès
Títol de la publicacióComputer Analysis of Images and Patterns - 20th International Conference, CAIP 2023, Proceedings
EditorsNicolas Tsapatsoulis, Efthyvoulos Kyriacou, Andreas Lanitis, Zenonas Theodosiou, Marios Pattichis, Constantinos Pattichis, Christos Kyrkou, Andreas Panayides
EditorSpringer Science and Business Media Deutschland GmbH
Nombre de pàgines9
ISBN (imprès)9783031442360
Estat de la publicacióPublicada - 2023
Publicat externament
Esdeveniment20th International Conference on Computer Analysis of Images and Patterns, CAIP 2023 - Limassol, Cyprus
Durada: 25 de set. 202328 de set. 2023

Sèrie de publicacions

NomLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volum14184 LNCS
ISSN (imprès)0302-9743
ISSN (electrònic)1611-3349


Conferència20th International Conference on Computer Analysis of Images and Patterns, CAIP 2023


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