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检索条件"机构=Neuroinformatics and Cognitive Robotics Lab"

共 103 条记录，以下是1-10 订阅

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A Real-time Facial Expression Recognition System based on Active Appearance Models using Gray Images and Edge Images

A Real-time Facial Expression Recognition System based on Ac...

引用

8th IEEE International Conference on Automatic Face and Gesture Recognition

作者： Martin, Christian Werner, Uwe Gross, Horst-Michael MetraLabs GmbH Germany Neuroinformatics and Cognitive Robotics Lab Ilmenau Technical University Germany

ISBN: (纸本)9781424421534

In this paper, we present an approach for facial expression classification, based on Active Appearance Models. To be able to work in real-world, we applied the AAM framework on edge images, instead of gray images. This yields to more robustness against varying lighting conditions. Additionally, three different facial expression classifiers (AAM classifier set, MLP and SVM) are compared with each other An essential advantage of the developed system is, that it is able to work in real-time - a prerequisite for the envisaged implementation on an interactive social robot. The real-time capability, was achieved by a two-stage hierarchical AAM tracker and a very efficient implementation.

关键词： Face recognition

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A concept for detection and tracking of people in smart home environments with a mobile robot

A concept for detection and tracking of people in smart home...

引用

3rd European Conference on Ambient Intelligence: Roots for the Future of Ambient Intelligence, AmI 2009

作者： Volkhardt, Michael Weinrich, Christoph Schröter, Christof Groß, Horst-Michael Neuroinformatics and Cognitive Robotics Lab. Ilmenau University of Technology Germany

Ambient Assisted Living (AAL) describes concepts, products and services for integrating new technologies and social environment in order to support people in their daily routine and increase their quality of life, in particular in their homes. One aspect is the use of "intelligent" sensors and evaluation for situation awareness and automatic detection of critical conditions like falls or any distress and crisis situations. A preliminary requirement to enable these functionalities is the robust estimation of people's positions and poses. In this paper we present a survey of state-of-the-art methods for people detection and tracking, focussing on application on a mobile robot. Furthermore, we discuss problems arising when using these algorithms in the target environment and show a concept to increase the robustness of multi-cue people tracking. © ICT&S Center, University of Salzburg.

关键词： Mobile robots

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An improved sensor model on appearance based SLAM

An improved sensor model on appearance based SLAM

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21. Fachgesprach Autonome Mobile Systeme, AMS 2009 - 21st Expert Discussion on Autonomous Mobile Systems, AMS 2009

作者： Kebler, Jens König, Alexander Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology 98693 Ilmenau Germany

ISBN: (纸本)9783642102837

In our previous work on visual, appearance-based localization and mapping, we presented in [14] a novel SLAM approach to build visually labeled topological maps. The essential contribution of this work was an adaptive sensor model, which is estimated online, and a graph matching scheme to evaluate the likelihood of a given topological map. Both methods enable the combination of an appearance-based, visual localization and mapping concept with a Rao-Blackwellized Particle Filter (RBPF) as state estimator to a real-world suitable, online SLAM approach. In this paper we improve our algorithm by using a novel probability driven approximation of the local similarity function (the sensor model) to deal with dynamic changes of the appearance in the operation area.

关键词： Topology

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Interactive mobile robots guiding visitors in a university building

Interactive mobile robots guiding visitors in a university b...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Stricker, Ronny Muller, Steffen Einhorn, Erik Schroter, Christof Volkhardt, Michael Debes, Klaus Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology 98693 Ilmenau Germany

ISBN: (纸本)9781467346054

This paper presents an architectural overview of a robot-based visitor information system in a university building. Two mobile robots serve as mobile information terminals providing information about the employees, labs, meeting rooms, and offices in the building and are able to guide the visitors to these points of interest. The paper focuses on the different software components needed to meet the requirements of the multi-story office building. Furthermore, the integration of a multi-hypotheses person tracker is outlined, which helps the robots to interact with the people in their near surrounding. Besides first observations on interaction, the further development is outlined as well. © 2012 IEEE.

关键词： Mobile robots

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Forward feature selection using residual mutual information

Forward feature selection using residual mutual information

引用

17th European Symposium on Artificial Neural Networks - Advances in Computational Intelligence and Learning, ESANN 2009

作者： Schaffernicht, Erik Möller, Christoph Debes, Klaus Gross, Horst-Michael Ilmenau University of Technology Neuroinformatics and Cognitive Robotics Lab 98693 Ilmenau Germany

ISBN: (纸本)2930307099

In this paper, we propose a hybrid filter/wrapper approach for fast feature selection using the Residual Mutual Information (RMI) between the function approximator output and the remaining features as selection criterion. This approach can handle redundancies in the data as well as the bias of the employed learning machine while keeping the number of required training and evaluation procedures low. In classification experiments, we compare the Residual Mutual Information algorithm with other basic approaches for feature subset selection that use similar selection criteria. The efficiency and effectiveness of our method are demonstrated by the obtained results on UCI datasets.

关键词： Classification (of information)

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Using a spatio-temporal FastMarching planner to politely avoid moving persons 1

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22nd conference on Autonomous Mobile Systems, AMS 2012

作者： Kessler, Jens Strobel, Jürgen Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology 98693 Ilmenau Germany

ISBN: (数字)9783642322174

ISBN: (纸本)9783642322167

When mobile robots operate in home environments, a robot should consider the inhabitants while moving around. In this work, an approach is presented, which at the one hand predicts the movements of a person in a very simple way, and on the other hand uses the predicted movement to plan a motion path of the robot. We deploy a potential field approach to predict the person's movement trajectory and use an modified Fast Marching planner to access a time-variable cost function for the planning process. The goal of our development is an early avoiding behavior of the robot, when the robot passes a person. This should increase the acceptance of the robot, and signal a "busy"-behavior. We show the feasibility of the presented approach in some first simulation results. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Robots

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Door Manipulation as a Fundamental Skill Realized on Robots With Differential Drive 56

Door Manipulation as a Fundamental Skill Realized on Robots ...

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56th International Symposium on robotics, ISR Europe 2023

作者： Müller, Tristan Müller, Steffen Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Technische Universität Ilmenau Ilmenau Germany

ISBN: (纸本)9783800761418

In the context of assistive mobile service robotics for elderly living in nursing homes, but also for robots realizing autonomous transport in large public buildings in general, a fundamental challenge is to overcome closed doors on their way. We review the state of the art for autonomous door opening by mobile robots and present a modular framework for enabling various robots in this task. The necessary building blocks are introduced, and evaluation results for their application on two different robot platforms are presented. A common property of our platforms, which can be found on many commercial low-cost robots is the use of differential drives. This is limiting the maneuverability and is, therefore, an important constraint for the realization of door manipulation strategies. Furthermore, our method is not dependent on computationally expensive computer vision methods but utilizes the usually available laser-range scanner for localizing and analyzing the door to be manipulated. © VDE VERLAG GMBH Berlin Offenbach.

关键词： door manipulation handle grasping laser detection

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Highly Adaptable Hardware Architecture for Scientific and Industrial Mobile Robots

Highly Adaptable Hardware Architecture for Scientific and In...

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Merten, Matthias Gross, Horst-Michael MetraLabs GmbH Germany Neuroinformatics and Cognitive Robotics Lab. Ilmenau University of Technology Ilmenau Germany

ISBN: (纸本)9781424416752

The growing field of mobile robotics produces various types of robot systems for different applications. However, the development of new robots often requires the design of new hardware systems which is time consuming and susceptible to errors. Here, we present a modular and highly flexible hardware architecture that allows to simplify the adaptation of the robot to a new task and reduces the time for the development of a new robot system. This hardware architecture was developed according to industrial standards and is applicable to industrial and to research mobile robot systems. This paper describes the underlying demands to the hardware, the technical solutions and the designed modules. Moreover, we show the successful integration of the new architecture in three different robot systems (indoor and outdoor)(1).

关键词： Mobile robots

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Monocular obstacle detection for real-world environments

Monocular obstacle detection for real-world environments

引用

21. Fachgesprach Autonome Mobile Systeme, AMS 2009 - 21st Expert Discussion on Autonomous Mobile Systems, AMS 2009

作者： Einhorn, Erik Schroeter, Christof Gross, Horst-Michael MetraLabs GmbH Germany Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Germany

ISBN: (纸本)9783642102837

In this paper, we present a feature based approach for monocular scene reconstruction based on extended Kalman filters (EKF). Our method processes a sequence of images taken by a single camera mounted in front of a mobile robot. Using various techniques we are able to produce a precise reconstruction that is almost free from outliers and therefore can be used for reliable obstacle detection and avoidance. In real-world field tests we show that the presented approach is able to detect obstacles that can not be seen by other sensors, such as laser range finders. Furthermore, we show that visual obstacle detection combined with a laser range finder can increase the detection rate of obstacles considerably, allowing the autonomous use of mobile robots in complex public and home environments.

关键词： Mobile robots

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Avoiding moving persons by using simple trajectory prediction and spatio temporal planning

Avoiding moving persons by using simple trajectory predictio...

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35th Annual German Conference on Artificial Intelligence, KI 2012

作者： Kessler, Jens Strobel, Jürgen Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab. Ilmenau University of Technology Ilmenau 98693 Germany

ISBN: (纸本)9783642333460

If a mobile robot operates within its environment, it should take other persons into account while moving around. This work presents an approach, which predicts the movements of persons in a very simple way, and uses the predicted trajectories to plan a motion path for the robot. The presented motion prediction and planning process is much faster than real time. A potential field is applied to predict the person's movement trajectory, and a modified Fast Marching planner is used for the planning process. The aim of this work is, to create an early avoiding behavior of the robot, when the robot passes a person, to signal a "busy'"-behavior towards the person. © 2012 Springer-Verlag.

关键词： Forecasting

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