Abstract

Robot interaction with humans requires intelligent robots that can understand human activities. The development of advanced 3D LiDAR sensors has greatly contributed to this capability. In this study, we specifically focus on the use of 3D LiDAR sensors to predict the orientation of the human body using 3D Convolutional Neural Networks (CNNs) based on voxelized datasets. The dataset used in this study was created using a 3D LiDAR sensor with 32-channel specifications. We divided the dataset into four categories representing different walking orientations. The goal was to explore the performance of four different 3D CNN architectures using independently generated datasets. Based on the experimental results and performance analysis, it was found that VGG16 outperformed the other three architectures in predicting body orientation. VGG16 achieved an accuracy of 0.95, which was higher than DenseNet121 with approximately 0.91, ResNet50V2 with 0.80, and ResNet50 with 0.73. In the future, this method will be developed with additional orientation and results of architectural testing so that it can be modified to be better for further research on understanding human activity by robots.

Original languageEnglish
Title of host publication2023 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publicationLeveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages99-104
Number of pages6
ISBN (Electronic)9798350313956
DOIs
Publication statusPublished - 2023
Event24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 - Hybrid, Surabaya, Indonesia
Duration: 26 Jul 202327 Jul 2023

Publication series

Name2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding

Conference

Conference24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Country/TerritoryIndonesia
CityHybrid, Surabaya
Period26/07/2327/07/23

Keywords

  • 3D Lidar
  • CNN
  • Human body
  • Orientation
  • Robot

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