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<!DOCTYPE html>
<!--[if lt IE 7]> <html class="no-js lt-ie9 lt-ie8 lt-ie7"> <![endif]-->
<!--[if IE 7]> <html class="no-js lt-ie9 lt-ie8"> <![endif]-->
<!--[if IE 8]> <html class="no-js lt-ie9"> <![endif]-->
<!--[if gt IE 8]><!--> <html class="no-js"> <!--<![endif]-->
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<title>Following Ahead</title>
<meta name="description" content="">
<meta name="viewport" content="width=device-width">
<link rel="author" href="humans.txt" />
<link rel="stylesheet" href="css/vanilla.css">
<link rel="stylesheet" href="css/custom.css">
</head>
<body class="vanilla">
<h1><center> The Hands-Free Push-Cart: Autonomous Following in Front by Predicting User Trajectory Around Obstacles<center/></h1>
<hr />
<header>
<img src="assets/person_follower.png" alt="Person Follower" style="width:1px;height:500px;">
<section>
<h3>Abstract</h3>
<p>This work demonstrates an autonomous mobile robot that follows a walking user while staying ahead of them. Despite several useful applications for autonomous push carts this problem has received much less attention than the easier problem of following from behind. In contrast to previous work, we use multi-modal person detection and a human-motion model that considers obstacles to predict the future path of the user. We implement the system with a modular architecture of obstacle mapper, human tracker, human motion model, robot motion planner and robot motion controller. We report on the performance of the robot in real world experiments. We believe that approaches to this largely overlooked problem could be useful in real industrial, domestic and entertainment applications in the near future.</p>
</section>
</header>
<hr />
<!-- <article>
<section>
<h4>Almost Magic</h4>
<div>
<iframe width="420" height="315"
src="https://www.youtube.com/watch?v=89J_a_iDTTQ&list=PLgAQhV4sg40vK2wacjJq1Yy995NIl1EOY&index=3">
</iframe>
</div>
</section>
<aside>
<h4>Notes</h4>
<p>
<strong>Note:</strong> To achieve optimal responsive media, do not place media elements (img, video, iframe, etc.) as direct children of rows.
</p>
<p>
<strong>Tables:</strong> It's a great idea to not use tables for grids, rows or columns, so great, in fact, NEVER do it. Just nest your tables inside a column and they'll play nice.
</p>
</aside>
</article>
<section>
<h3 class="github"><a href="https://github.com/tylerchilds/Vanilla-HTML" target="_blank">View on GitHub</a></h3>
</section>
<hr /> -->
<h2>Demo Videos</h2>
<section>
<aside>
<h4>Easy ["Rectangle World"]</h4>
<iframe width="560" height="560" src="https://www.youtube.com/embed/x1DS74MJkTY" frameborder="0" allowfullscreen></iframe>
</aside>
<aside style="height: 400%;">
<h4>Hard ["Eight World"]</h4>
<iframe width="560" height="560" src="https://www.youtube.com/embed/sOAeZo6Q0EI" frameborder="0" allowfullscreen></iframe>
</aside>
<aside>
<h4>Corridor</h4>
<iframe width="560" height="560" src="https://www.youtube.com/embed/89J_a_iDTTQ" frameborder="0" allowfullscreen></iframe>
</aside>
</section>
<footer class="vanilla">
<section>
<div>
<h7><a href="http://autonomylab.org">Autonomy Lab</a>
,<br> Simon Fraser University </h7>
</div>
</footer>
<script>
// this should not display
</script>
</body>
</html>