Drazen Brscic

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—A method for tracking the position, orientation, and height of persons in large public environments is presented. Such information is known to be useful both for understanding their actions, as well as for applications such as human-robot interaction. We use multiple three-dimensional range sensors, mounted above human height to have less occlusion between(More)
A robot working among pedestrians can attract crowds of people around it, and consequentially become a bothersome entity causing congestion in narrow spaces. To address this problem, our idea is to endow the robot with capability to understand humans' crowding phenomena. The proposed mechanism consists of three underlying models: a model of pedestrian flow,(More)
Social robots working in public space often stimulate children's curiosity. However, sometimes children also show abusive behavior toward robots. In our case studies, we observed in many cases that children persistently obstruct the robot's activity. Some actually abused the robot by saying bad things, and at times even kicking or punching the robot. We(More)
— Robotic systems operating in the real-world have to cope with unforeseen events by determining appropriate decisions based on noisy or partial knowledge. In this respect high functional robots are equipped with many sensors and actuators and run multiple processing modules in parallel. The resulting complexity is even further increased in case of(More)
calibration of the relative positions of 3D range sensors is difficult, due to their limited range, narrow field of view, and distortion at large distances. 2D laser range finders have also been used for pedestrian tracking, providing greater accuracy and coverage at the cost of being more expensive and susceptible to occlusion. In this work, we present two(More)