Abstract
Monitoring the safe social distancing then conducting efficient sterilization in potentially crowded public places are necessary but challenging especially during the COVID-19 pandemic. This work presents the 3D human space-based surveillance system enabling selective cleaning framework. To this end, the proposed AI-assisted perception techniques is deployed on Toyota Human Support Robot (HSR) equipped with autonomous navigation, Lidar, and RGBD vision sensor. The human density mapping represented as heatmap was constructed to identify areas with the level being likely the risks for interactions. The surveillance framework adopts the 3D human joints tracking technique and the accumulated asymmetrical Gaussian distribution scheme modeling the human location, size, and direction to quantify human density. The HSR generates the human density map as a grid-based heatmap to perform the safe human distance monitoring task while navigating autonomously inside the pre-built map. Then, the cleaning robot uses the levels of the generated heatmap to sterilize by the selective scheme. The experiment was tested in public places, including food court and wet market. The proposed framework performance analyzed with standard performance metrics in various map sizes spares about 19 % of the disinfection time and 15 % of the disinfection liquid usage, respectively.
Highlights
The recent outbreak of COVID-19 has caused a pandemic alert around the world
According to World Health Organisation (2020), physical distancing and routine sterilizing are the effective ways to slow down the spread of the virus because when people maintain safe social distancing and avoid physical contact, the chances of transmitting the virus from one person to another reduces significantly [1]
In this article, based on the literature survey on the human space and multi human interaction, we propose a human safe distance monitoring technique using Toyota Human Support Robot (HSR) and AI-assisted 3D computer vision framework
Summary
The recent outbreak of COVID-19 has caused a pandemic alert around the world. It has globally affected almost all the continents, infecting more than 82 million people and 1,79 death reports (30 December 2020). Many countries worldwide have used the drones, IoT, and AIassisted techniques to monitor the human density, predict and alert the safe distance breach in crowded areas in indoor and outdoor [3]. The quantification in term of 3d interaction between human space and the utilization of human interaction are not considered in the mentioned references In this context, service robots are a viable candidate for monitoring safe distance measure. The service robot navigates to clear the waypoints around the mapped indoor area and performs the SDO tasks that include detecting people’s clusters, space between the humans, human interaction pose, safe distance measure, and raising warning alerts commuters when violating the safe distance rule. The conclusion, together with potential future works, is explored in the last Section 7
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