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'LUCAS': the library assistant robot, implementation and localisation

Institution: IEEE Computer Society

In modern ageing society, robots are been designed
to play an increasing role in the lives of elderly people
This paper describes a mobile robotic assistant, named
‘LUCAS’, Limerick University Computerised Assistive
System, that is currently being developed to assist
elderly individuals with mild cognitive or physical
impairments within a library environment. The aim of
the project is to provide an assistive socially
interactive robotic aid. The main focus of this paper is
on the localisation system of ‘LUCAS’. A continuous
localisation process is used which relies on monocular
vision and ultrasonic range readings. The process
employ’s methods of straight-line-extraction, vanishing
point estimation and ultrasonic pattern detection. The
correspondence space is reduced by splitting the
navigable space into localisation variant regions. The
pose is calculated for each localisation hypothesis
within the particular region and is used to correct the
motion of the robot before it enters the next
localisation region.

Suggested citation:

. () 'LUCAS': the library assistant robot, implementation and localisation [Online]. Available from: [Accessed: 25th March 2019].


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