Test and Evaluation of the FastSLAM Algorithm in a Mobile Robot

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)

Taller del proyecto AVORA, robot submarino de la ULPGC-PLOCAN dentro de Ciberlandia 2013

Celebrado el 24 de mayo en el Edificio de Informática y Matemáticas de la ULPGC

On the use of a low-cost thermal sensor to improve kinect people detection in a mobile robot

[EN]Detecting people is a key capability for robots that operate in populated environments. In this paper, we have adopted a hierarchical approach that combines classifiers created using supervised learning in order to identify whether a person is in the view-scope of the robot or not. Our approach makes use of vision, depth and thermal sensors mounted on top of a mobile platform.

Useful computer vision techniques for human-robot interaction

[ES]This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/dissaproval, understanding/disbelief head gestures.

Multimodal attention system for an interactive robot

[EN]Social robots are receiving much interest in the robotics community. The most important goal for such robots lies in their interaction capabilities. An attention system is crucial, both as a filter to center the robot’s perceptual resources and as a mean of letting the observer know that the robot has intentionality. In this paper a simple but flexible and functional attentional model is described. The model, which has been implemented in an interactive robot currently under development, fuses both visual and auditive information extracted from the robot’s environment, and can incorporate knowledge-based influences on attention.

CASIMIRO: a robot head for human-computer interaction

The physical appearance and behavior of a robot is an important asset in terms of Human-Computer Interaction. Multimodality is also fundamental, as we humans usually expect to interact in a natural way with voice, gestures, etc. People approach complex interaction devices with stances similar to those used in their interaction with other people. In this paper we describe a robot head, currently under development, that aims to be a multimodal (vision, voice, gestures,...) perceptual user interface.

Integrating an entertainment robot

[EN]In this paper we will present Eldi, a mobile robot that has been in opertation at the Elder Museum of Science and Technology at Las Palmas de Gran Canaria since december 1999. This is an ongoing project that was organized in three different stages of which only the first one has been accomplished. The initial phase, termed "The Player", the second stage, actually under develpment, has been called "The Cicerone" and in the final phase, termed "The Vagabond", in which Eldi will be allowed to move erratically across the Museum. This paper will focus on the accomplished first stage to succinctly describe the physical robot and the environment and demos developed. Finally we will summarize some important lessons learnt.

Eldi: an agent based museum robot

[EN]In this paper we will present Eldi, a mobile robot that has been in daily operation at the Elder Museum of Science and Technology at Las Palmas de Gran Canaria since December 1999. This is an ongoing project that was organized in three di erent stages, describing here the one that has been accomplished. The initial phase, termed \The Player", the second stage, actually under development, has been called "The Cicerone" and in a nal phase, termed \The Vagabond", Eldi will be allowed to move erratically across the Museum. This paper will focus on the accomplished rst stage to succinctly describe the physical robot and the environment and demos developed. Finally we will summarize some important lessons learnt.

Experiences with a museum robot

In this paper we will present Eldi, a mobile robot that has been in daily operation at the Elder Museum of S ien e and Te hnology at Las Palmas de Gran Canaria sin e last De ember. This is an ongoing pro je t that was organized in three di erent stages of whi h only the rst one has been a omplished. The initial phase, termed \The Player", the se ond stage, a tually under development, has been alled "The Ci erone" and in a nal phase, termed \The Vagabond", Eldi will be allowed to move errati ally a ross the Museum...

Fast and accurate hand pose detection for human-robot interaction

[EN]Enabling natural human-robot interaction using computer vision based applications requires fast and accurate hand detection. However, previous works in this field assume different constraints, like a limitation in the number of detected gestures, because hands are highly complex objects difficult to locate. This paper presents an approach which integrates temporal coherence cues and hand detection based on wrists using a cascade classifier. With this approach, we introduce three main contributions: (1) a transparent initialization mechanism without user participation for segmenting hands independently of their gesture, (2) a larger number of detected gestures as well as a faster training phase than previous cascade classifier based methods and (3) near real-time performance for hand pose detection in video streams.