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

Research output: Book chapterConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationComputer 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
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages9
ISBN (Print)9783031442360
Publication statusPublished - 2023
Externally publishedYes
Event20th International Conference on Computer Analysis of Images and Patterns, CAIP 2023 - Limassol, Cyprus
Duration: 25 Sept 202328 Sept 2023

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume14184 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference20th International Conference on Computer Analysis of Images and Patterns, CAIP 2023


  • Convolutional Neural Networks
  • Healthcare spaces
  • Human-Robot Interaction
  • Robot navigation
  • YOLO


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