Please use this identifier to cite or link to this item: http://hdl.handle.net/10553/73849
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dc.contributor.authorRodriguez, Igoren_US
dc.contributor.authorZabala, Unaien_US
dc.contributor.authorMarín Reyes, Pedro Antonioen_US
dc.contributor.authorJauregi, Ekaitzen_US
dc.contributor.authorLorenzo Navarro, José Javieren_US
dc.contributor.authorLazkano, Elenaen_US
dc.contributor.authorCastrillón Santana, Modesto Fernandoen_US
dc.date.accessioned2020-07-28T11:03:20Z-
dc.date.available2020-07-28T11:03:20Z-
dc.date.issued2020en_US
dc.identifier.issn1424-8220en_US
dc.identifier.urihttp://hdl.handle.net/10553/73849-
dc.description.abstractGidaBot is an application designed to setup and run a heterogeneous team of robots to act as tour guides in multi-floor buildings. Although the tours can go through several floors, the robots can only service a single floor, and thus, a guiding task may require collaboration among several robots. The designed system makes use of a robust inter-robot communication strategy to share goals and paths during the guiding tasks. Such tours work as personal services carried out by one or more robots. In this paper, a face re-identification/verification module based on state-of-the-art techniques is developed, evaluated offline, and integrated into GidaBot’s real daily activities, to avoid new visitors interfering with those attended. It is a complex problem because, as users are casual visitors, no long-term information is stored, and consequently, faces are unknown in the training step. Initially, re-identification and verification are evaluated offline considering different face detectors and computing distances in a face embedding representation. To fulfil the goal online, several face detectors are fused in parallel to avoid face alignment bias produced by face detectors under certain circumstances, and the decision is made based on a minimum distance criterion. This fused approach outperforms any individual method and highly improves the real system’s reliability, as the tests carried out using real robots at the Faculty of Informatics in San Sebastian show.en_US
dc.languageengen_US
dc.relation.ispartofSensorsen_US
dc.sourceSensors [ISSN 1424-8220], v. 20 (9), 2480 (2020)en_US
dc.subject120304 Inteligencia artificialen_US
dc.subject.otherDistributed robotic systemen_US
dc.subject.otherFace re-identificationen_US
dc.subject.otherNeural networksen_US
dc.subject.otherSocial service robotsen_US
dc.titlePersonal guides: heterogeneous robots sharing personal tours in multi-floor environmentsen_US
dc.typeinfo:eu-repo/semantics/articleen_US
dc.typearticleen_US
dc.identifier.doi10.3390/s20092480en_US
dc.identifier.pmid20-
dc.identifier.scopus2-s2.0-85084169245-
dc.contributor.orcid0000-0002-2834-2067-
dc.contributor.orcid0000-0002-8673-2725-
dc.contributor.orcid#NODATA#-
dc.contributor.orcid#NODATA#-
dc.contributor.orcid#NODATA#-
dc.contributor.authorscopusid15042453800-
dc.contributor.authorscopusid57216644983-
dc.identifier.eissn1424-8220-
dc.identifier.issue9-
dc.relation.volume20en_US
dc.investigacionIngeniería y Arquitecturaen_US
dc.type2Artículoen_US
dc.description.numberofpages22en_US
dc.utils.revisionen_US
dc.identifier.ulpgcen_US
dc.contributor.buulpgcBU-INFen_US
dc.description.sjr0,636
dc.description.jcr3,576
dc.description.sjrqQ2
dc.description.jcrqQ2
dc.description.scieSCIE
item.fulltextCon texto completo-
item.grantfulltextopen-
crisitem.author.deptGIR SIANI: Inteligencia Artificial, Robótica y Oceanografía Computacional-
crisitem.author.deptIU Sistemas Inteligentes y Aplicaciones Numéricas-
crisitem.author.deptDepartamento de Informática y Sistemas-
crisitem.author.deptGIR SIANI: Inteligencia Artificial, Robótica y Oceanografía Computacional-
crisitem.author.deptIU Sistemas Inteligentes y Aplicaciones Numéricas-
crisitem.author.deptDepartamento de Informática y Sistemas-
crisitem.author.orcid0000-0002-2834-2067-
crisitem.author.orcid0000-0002-8673-2725-
crisitem.author.parentorgIU Sistemas Inteligentes y Aplicaciones Numéricas-
crisitem.author.parentorgIU Sistemas Inteligentes y Aplicaciones Numéricas-
crisitem.author.fullNameMarín Reyes, Pedro Antonio-
crisitem.author.fullNameLorenzo Navarro, José Javier-
crisitem.author.fullNameCastrillón Santana, Modesto Fernando-
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