抄録
In this paper, we propose a method for annotating type of feasible human activities on a wide area from the data observed by a robot. For realizing human-robot symbiosis, it is essential to combine semantic information with an environmental map. Unlike prior methods, the proposed method uses an RGB-D sensor to directly observe human activity, and also uses a range sensor to obtain an environmental shape information. We use the K-means algorithm to categorize the observed human motions. We actually show the result of mapping the activities on 2D occupancy grid map, and discuss the effectiveness of the proposed method.
