Code for HRI Pedestrian Distance Project
Goal: Improve Human-Robot Interaction (HRI) design by quantifying impact of robot lights and sounds on pedestrian distance and comfort.
Question: How does varying robot lights and sounds impact how far away pedestrians will keep from the robot? How do the lights and sounds impact the pedestrian state (e.g., scary vs pleasant?)
Result: subtle lighting and sounds can effectively cause pedestrians to keep distance without causing excessive distress. Aggressive lights and sounds offer limited additional separation from the robot, but induce a lot of stress in participants.
HRI_LIGHTS_CODE.ino: Run the LED lightstrip: off, constant blue, variable frequency red blinking
point_cloud_angle_correction.py : Correct camera yaw misalignment. Projects wall onto ground plane and calculates rotation
pc_anim_and_trajectories.py: Animate point cloud and get person trajectory
pc_anim_for_video.py: Display a nicely formatted animated pointcloud for sharing
plot_survey_and_pc_data.py : code to plot pedestrian final position vs survey results
traj_plotter2.py: plot trjaectories and averaged trajectories
video_framestamps.txt : framestamps for realsense videos for when people pass
For more details, contact lmplotte@alumni.cmu.edu