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Published byDorothy Shaw Modified over 9 years ago
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● MSc Artificial Intelligence(University of Groningen) ● Research at the Cognitive Robotics Laboratory ● Part of the BORG team ● Competing in RoboCup@Home competitions Marc Volger - http://www.ai.rug.nl/crl/
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RoboCup@Home ● “The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications.” ● Competition consists of tests in a realistic non-standardized home environment ● Examples of tests: - Follow Me - Cocktail Party - Open Challenge - http://www.robocupathome.org/
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BORG team ● PhD. Student and ± 8 Master students ● Developmental robot: Sudo ● Approximated €15.000 ● Participation in 2013: - Iran Open2 nd - German Open4 th - World Championships4 th
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Robotic Setup Pioneer platform NAO Humanoid Robot Microphone Kinect 3D sensors Laser scanner Webcam Terminal Emergency buttons
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Architecture ● Linux ● ROS ● C++ & Python
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Robotic Movement ● Dynamic navigation to waypoints ● Obstacle avoidance ● Footprint definition ● Movie Movie name,x,y,angle desk,4.6938,-1.4838,66.4537 Plant,0.3403,0.7027,144.7910 couch,1.7412,-1.2893,-73.9569
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Human detection ● Leg / Torso detector ● Human segmentation ● Colorhistogram ● TLD Tracker
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Face Recognition ● Use of Eigenfaces ● Nearest Neighbor → SVM classification ● Prototypicality unknown rejection
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Profile Face detection ● 3D Kinect sensor ● SVM training on: - 3000 Positive Images - 3000 Negative Image ● Multi-scale Sliding window ● Histogram of Oriented ● Gradients (HOG)
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Object grasping ● Limited hardware ● Find a solution with your software!
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Object grasping ● Limited hardware ● Find a solution with your software!
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Object grasping ● Limited hardware ● Find a solution with your software!
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Object grasping ● Limited hardware ● Find a solution with your software! ● Grasping through Reinforcement Learning Grasping through Reinforcement Learning
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Natural language programming Serve Go to Grab Go to Bring Grab Serve (Go to → Grab → Bring) ● Redefining orders ● Hierarchical Programming
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Smoke detection ● Motion extraction ● Morphology ● Motion cropped video ● Structural analysis in time - Chaotic - Structured ● Innovation Award Nomination ● at World Championships
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Final Challenge World Championships ● Medical assistance through robot - Anomaly detection - Emergency call through Skype - Known information is sent by email - Robot control through Skype by doctor via voice commands
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Emotion recognition ● PCA projection ● Logistic regression
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Conclusion ● Software is at least as important as hardware ● Dynamic programming for real-life environment ● Combining multiple approaches for higher 'confidence' ● Improve on existing software if necessary
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Thank you for your attention
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