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.

A low complexity system based on multiple weighted decision trees for indoor localization

[EN] Indoor position estimation has become an attractive research topic due to growing interest in location-aware services. Nevertheless, satisfying solutions have not been found with the considerations of both accuracy and system complexity. From the perspective of lightweight mobile devices, they are extremely important characteristics, because both the processor power and energy availability are limited. Hence, an indoor localization system with high computational complexity can cause complete battery drain within a few hours. In our research, we use a data mining technique named boosting to develop a localization system based on multiple weighted decision trees to predict the device location, since it has high accuracy and low computational complexity.

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.