Introduction
The game and the previous works
The “Darumasan ga koronda” game
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The robot’s role is fixed as “it”, and the robot does not become a player even when it catches all of the players.
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The robot does not turn around when counting.
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The players are not caught by the robot even when they are called “out.”
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After the robot is tagged, the robot calls “stop,” and then moves to the nearest player by a distance of three steps of a typical human.
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When moving to the nearest player, the robot does not tag the player and instead calls “out” if it approaches within 0.5 m of the player.
Conventional person detection methods and their problems
Conventional person tracking methods and their problems
Person detection using a laser range finder
Analysis and improvement of person detection
Observation of players’ postures in human–human games
Robust detection of the boundary points of the body
Determination of the best candidate for the human body
Person tracking
The basic person tracking method
Tracking of lost players
When a player p is lost, his/her position does not move at all,If a player is known to be lost and another person exists near the last position where the lost person was observed, the newly observed person is regarded as the lost person.
Experiment
The robots used in the experiment
Size (WDH) mm | 395 × 510 × 1375 |
Weight (kg) | 8.2 |
Movement speed (mm/s) | 800 |
Measurement distance (m) | 5.6 |
Measurement range (°) | 240 |
Scan period (s/scan) | 0.1 |
Angular resolution (°) | Approximately 0.36 |
Experiment I
Method A | Method B | A-B | C-D | E-F | Total |
---|---|---|---|---|---|
No | No | 1.1 | 0.70 | 0.71 | 0.84 |
No | Yes | 0.0 | 0.70 | 0.71 | 0.47 |
Yes | No | 1.1 | 3.2 | 0.69 | 1.7 |
Yes | Yes | 0.14 | 0.14 | 0.0 | 0.09 |
Speed (m/s) | Without B | With B |
---|---|---|
0.7 | 4.8 | 0.0 |
1.4 | 4.2 | 0.0 |
1.8 | 1.4 | 0.0 |
Form | Without B | With B |
---|---|---|
(a) | 1.4 | 0.0 |
(b) | 1.2 | 0.0 |
(c) | 2.1 | 0.69 |
(d) | 0.0 | 0.0 |
Experiment II
Pattern | Player | Position |
---|---|---|
A | 1\(\rightarrow \) 3 \(\rightarrow \) 1 | |
1 | B | 3\(\rightarrow \) 13\(\rightarrow \) 13 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 6 | |
2 | B | 3\(\rightarrow \) 13\(\rightarrow \) 13\(\rightarrow \) 13 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 13\(\rightarrow \) 11 | |
3 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 3 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 13\(\rightarrow \) 13\(\rightarrow \) 11 | |
4 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
5 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 3 |
C | 5\(\rightarrow \) 13\(\rightarrow \) 15 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
6 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 13\(\rightarrow \) 13\(\rightarrow \) 15 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
7 | B | 3\(\rightarrow \) 13\(\rightarrow \) 13 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
8 | B | 3\(\rightarrow \) 13\(\rightarrow \) 13\(\rightarrow \) 13 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 10 | |
A | 1\(\rightarrow \) 2 \(\rightarrow \) 1 | |
9 | B | 3\(\rightarrow \) 2 \(\rightarrow \) 3 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 2 \(\rightarrow \) 7 \(\rightarrow \) 6 | |
10 | B | 3\(\rightarrow \) 2 \(\rightarrow \) 7 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 5\(\rightarrow \) 5\(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
11 | B | 3\(\rightarrow \) 4 \(\rightarrow \) 3 |
C | 5\(\rightarrow \) 4 \(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 1\(\rightarrow \) 1\(\rightarrow \) 1 | |
12 | B | 3\(\rightarrow \) 4 \(\rightarrow \) 9 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 4 \(\rightarrow \) 9 \(\rightarrow \) 10 | |
A | 1\(\rightarrow \) 3 \(\rightarrow \) 1 | |
13 | B | 3\(\rightarrow \) 8 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 17\(\rightarrow \) 18 | |
A | 1\(\rightarrow \) 3 \(\rightarrow \) 20 \(\rightarrow \) 19 | |
14 | B | 3\(\rightarrow \) 8 \(\rightarrow \) 13 \(\rightarrow \) 13 |
C | 5\(\rightarrow \) 17\(\rightarrow \) 17\(\rightarrow \) 18 | |
A | 1\(\rightarrow \) 17\(\rightarrow \) 16 | |
15 | B | 3\(\rightarrow \) 8 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 17\(\rightarrow \) 17\(\rightarrow \) 16 | |
16 | B | 3\(\rightarrow \) 8 \(\rightarrow \) 13 \(\rightarrow \) 13 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 20 \(\rightarrow \) 21 | |
A | 1\(\rightarrow \) 8 \(\rightarrow \) 6 | |
17 | B | 3\(\rightarrow \) 17\(\rightarrow \) 17 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 8 \(\rightarrow \) 13 \(\rightarrow \) 11 | |
18 | B | 3\(\rightarrow \) 17\(\rightarrow \) 17\(\rightarrow \) 17 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 20 \(\rightarrow \) 21 | |
A | 1\(\rightarrow \) 3 \(\rightarrow \) 1 | |
19 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 3 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 5 | |
A | 1\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 6 | |
20 | B | 3\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 8 |
C | 5\(\rightarrow \) 3 \(\rightarrow \) 8 \(\rightarrow \) 10 |