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This paper presents an overview of the new version of our multi-model communication face “Mask-Bot”, a rear-projected animated robotic head, including our display system, face animation, speech communication and sound localization.
This paper presents the implementation of 3D perceptual parameter estimation in robot texture images using multi-core Graphic Processing Units (GPUs) connected into a cloud computing environment. The paper discusses the architecture of the system and its benefits in providing real time estimation of parameter estimation to get an approximation of the change in position of robot from a certain position...
We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans. This information includes the rooms, their connectivity, the objects they contain and the material of the walls and ground. This robot was developed in order to participate in a French exploration and mapping...
We have proposed a 3D object tracking framework with a Coarse-to-Fine combination strategy for robot vision applications. In the coarse step, compared with those edge-based only methods, the convergence range of initial camera pose estimation has been enlarged in our system by a template-based matching between a series of template images rendered from Computer Graphics (CG) and a current image. In...
We propose a registration algorithm for on-line measuring the rotational velocity of a table tennis ball in which the nearest neighbor interpolation method is presented to estimate the intensities of the pixels on the later frame by using the information of the previous frame. The conjugate gradient method is used to seek the optimum of the rotational parameter. Experimental results with both a ball...
This paper describes the modeling system - Simio™ - that is designed to simplify model building by promoting a modeling paradigm shift from the process orientation to an object orientation. Simio is a simulation modeling framework based on intelligent objects. The intelligent objects are built by modelers and then may be reused in multiple modeling projects. Although the Simio framework is focused...
This paper describes a method of generating a new view sequence for view-based outdoor navigation. View-based navigation approaches have been shown to be effective but have a drawback that a view sequence for the route to be navigated is needed beforehand. This will be an issue especially for navigation in an open space where numerous potential routes exist; it is almost impossible to take view sequences...
We present an energy-based approach to visual odometry from RGB-D images of a Microsoft Kinect camera. To this end we propose an energy function which aims at finding the best rigid body motion to map one RGB-D image into another one, assuming a static scene filmed by a moving camera. We then propose a linearization of the energy function which leads to a 6×6 normal equation for the twist coordinates...
The goal of personal robotics is to create machines that help us with the tasks of daily living, co-habiting with us in our homes and offices. These robots must interact with people on a daily basis, navigating with and around people, and approaching people to serve them. To enable this coexistence, personal robots must be able to detect and track people in their environment. Excellent progress has...
This paper presents a recursive method for extracting planar surfaces from noisy range data. The method first transforms the range image into a so-called Enhanced Range Image (ERI) that encodes the local geometric information (surface normals) and global spatial information (coordinates) of the 3D range data. The ERI is then clustered into a number of homogenous groups called Super-Pixels (SPs). By...
Today is often raised the question, what happened to engineering? Each day are less aspiring to such programs, and we need to find innovative ways to motivate students, encouraging learning fun, and that his time, guaranteeing a solid covering topics that are usually evaluated in the first programming courses, some of the tools that were used during the experience at the University Icesi for teaching...
This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline...
This paper presents a visual-servoing method for compensating motion of soft tissue structures using 4D ultrasound. The motion of soft tissue structures caused by physiological and external motion makes it difficult to investigate them for diagnostic and therapeutic purposes. The main goal is to track non-rigidly moving soft tissue structures and compensate the motion in order to keep a lesion on...
In this paper we present representations and mechanisms that facilitate continuous learning of visual concepts in dialogue with a tutor and show the implemented robot system. We present how beliefs about the world are created by processing visual and linguistic information and show how they are used for planning system behaviour with the aim at satisfying its internal drive - to extend its knowledge...
Remote tele-manipulation tasks can be both long and exhausting. The operative workload can however be reduced through contextual systems, in which routine or dexterous actions are performed automatically. In this paper, we investigate this idea in tele-surgery by proposing automatic scissors, namely the possibility for a surgeon to invoke a third robotic arm to come and automatically cut the thread...
Object recognition and especially object class recognition is and will be a key capability in home robotics when robots have to tackle manipulation tasks and grasp new objects or just have to search for objects. The goal is to have a robot classify 'never before seen objects' at first occurrence in a single view in a fast and robust manner. The classification task can be seen as a matching problem,...
This paper addresses the problem of recognizing and reconstructing real-world objects in cluttered environments to enable service robot to grasp the objects and manipulate them. A novel approach to combine disparity segmentation method with the closed-loop color region based segmentation is presented. Disparity map segmentation leads to definition of object region of interest (ROI) enabling autonomous...
We propose a novel human-robot-interaction framework for robust visual scene understanding. Without any a-priori knowledge about the objects, the task of the robot is to correctly enumerate how many of them are in the scene and segment them from the background. Our approach builds on top of state-of-the-art computer vision methods, generating object hypotheses through segmentation. This process is...
We propose a method for interactive modeling of objects and object relations based on real-time segmentation of video sequences. In interaction with a human, the robot can perform multi-object segmentation through principled modeling of physical constraints. The key contribution is an efficient multi-labeling framework, that allows object modeling and disambiguation in natural scenes. Object modeling...
Attention operators based on 2D image cues (such as color, texture) are well known and discussed extensively in the vision literature but are not ideally suited for robotic applications. In such contexts it is the 3D structure of scene elements that makes them interesting or not. We show how a bottom-up exploration mechanism that fuses 2D saliency-based conspicuity with spatial abstraction resulting...
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