Impact of Real time on Active Perception Systems applied to Social Robotics

Antonio Alberto García Gómez Jacinto; Juan Diego Peña Narváez; Rodrigo Pérez Rodríguez; José Miguel Guerrero Hernández; Francisco Martín Rico; Juan Carlos Manzanares Serrano

Ayuda

Impact of Real time on Active Perception Systems applied to Social Robotics

Antonio Alberto García Gómez Jacinto ; Juan Diego Peña Narváez ^[1] ; Rodrigo Pérez Rodríguez ; José Miguel Guerrero Hernández ; Francisco Martín Rico ; Juan Carlos Manzanares Serrano ^[1]
1. [1] Universidad Rey Juan Carlos
  
  Universidad Rey Juan Carlos
  
  Madrid, España
Localización: Proceedings of the XXIV Workshop of Physical Agents: September 5-6, 2024 / coord. por Miguel Cazorla Quevedo , Francisco Gómez Donoso , Félix Escalona Moncholi , 2024, ISBN 978-84-09-63822-2, págs. 169-185
Idioma: español
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Resumen
- Real-time capabilities are crucial for enabling robots to interact effectively in dynamic human environments, addressing latency and computational constraints that hinder traditional systems. This paper examines the essential role of real-time processing in active perception systems within social robotics.We propose an integrated approach within the ROS 2 framework, leveraging advanced object detection models and cascade lifecycle nodes to ensure robust and efficient tracking of individuals and objects. The robot’s head or camera is required to move and direct itself toward visual stimuli. Our experimental validation demonstrates significant improvements in orientation error rates with real-time configurations, particularly under high-stress scenarios. The findings highlight the practical advantages of real-time systems in enhancing situational awareness and interaction quality in social robotics.
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