1 / 19

MSc Artificial Intelligence(University of Groningen)

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/. RoboCup@Home.

boaz
Télécharger la présentation

MSc Artificial Intelligence(University of Groningen)

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 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/

  2. 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/

  3. BORG team • PhD. Student and ± 8 Master students • Developmental robot: Sudo • Approximated €15.000 • Participation in 2013: - Iran Open 2nd - German Open 4th - World Championships 4th

  4. Robotic Setup Kinect 3D sensors Microphone Emergency buttons Webcam NAO Humanoid Robot Terminal Laser scanner Pioneer platform

  5. Architecture • Linux • ROS • C++ & Python

  6. Robotic Movement • Dynamic navigation to waypoints • Obstacle avoidance • Footprint definition • 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

  7. Human detection • Leg / Torso detector • Human segmentation • Colorhistogram • TLD Tracker

  8. Face Recognition • Use of Eigenfaces • Nearest Neighbor → SVM classification • Prototypicalityunknown rejection

  9. Profile Face detection • 3D Kinect sensor • SVM training on: - 3000 Positive Images - 3000 Negative Image • Multi-scale Sliding window • Histogram of Oriented • Gradients (HOG)

  10. Object grasping • Limited hardware • Find a solution with your software!

  11. Object grasping • Limited hardware • Find a solution with your software!

  12. Object grasping • Limited hardware • Find a solution with your software!

  13. Object grasping • Limited hardware • Find a solution with your software! • Grasping through Reinforcement Learning

  14. Natural language programming • Redefining orders • Hierarchical Programming Serve Serve (Go to → Grab → Bring) Grab Grab Go to Go to Bring

  15. Smoke detection • Motion extraction • Morphology • Motion cropped video • Structural analysis in time - Chaotic - Structured • Innovation Award Nomination • at World Championships

  16. 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

  17. Emotion recognition • PCA projection • Logistic regression

  18. 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

  19. Thank you for your attention

More Related