Map integration of human trajectory with sitting/standing position using LRF and Kinect sensor

This paper presents a service oriented map that includes a) environment shape, b) human walking trajectory, and c) human sitting/standing position. Such information is important for a robot that provides services to human beings. Environmental shape (a) and human walking trajectory (b) are obtained by LRF. Human sitting/standing position (c) is obtained from Microsoft Kinect sensor by actively positioning and orienting the sensor to confirm human posture. A combined algorithm to obtain an integrated map is described, and experimental results follow.