A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement

• Kenji Koide
• Jun Miura
• Emanuele Menegatti

International Journal of Advanced Robotic Systems, Vol. 16, Issue 2, pp. 1-16, 2019

Abstract

It is important to measure and analyze people behavior to design systems which interact with people. This paper describes a portable people behavior measurement system using a 3D-LIDAR. In this system, an observer carries the system equipped with a 3D LIDAR and follows persons to be measured while keeping them in the sensor view. The system estimates the sensor pose in a 3D environmental map and tracks the target persons. It enables long-term and wide-area people behavior measurements which are hard for existing people tracking systems. As a field test, we recorded the behavior of professional caregivers attending elderly persons with dementia in a hospital. The preliminary analysis of the behavior reveals how the caregivers decide the attending position while checking the surrounding people and environment. Based on the analysis result, empirical rules to design the behavior of attendant robots are proposed.