Institutions | About Us | Help | Gaeilge
rian logo

Go Back
'LUCAS': the library assistant robot, implementation and localisation
Behan, Julie; O'Keeffe, Derek T.
In modern ageing society, robots are been designed to play an increasing role in the lives of elderly people This paper describes a mobile robotic assistant, named ‘LUCAS’, Limerick University Computerised Assistive System, that is currently being developed to assist elderly individuals with mild cognitive or physical impairments within a library environment. The aim of the project is to provide an assistive socially interactive robotic aid. The main focus of this paper is on the localisation system of ‘LUCAS’. A continuous localisation process is used which relies on monocular vision and ultrasonic range readings. The process employ’s methods of straight-line-extraction, vanishing point estimation and ultrasonic pattern detection. The correspondence space is reduced by splitting the navigable space into localisation variant regions. The pose is calculated for each localisation hypothesis within the particular region and is used to correct the motion of the robot before it enters the next localisation region.
Keyword(s): digital libraries; graphical user interfaces; handicapped aids; human computer interaction
Publication Date:
Type: Conference item
Peer-Reviewed: Yes
Language(s): English
Institution: University of Limerick
Citation(s): Computational Intelligence for Modelling, Control and Automation, 2005 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce;pp. 1140-
Publisher(s): IEEE Computer Society
First Indexed: 2012-11-06 05:26:34 Last Updated: 2015-11-04 05:35:26