Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedET5 Gemini 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 15:00–16:00<br />
Personal Robots II<br />
Chair Adriana Tapus, ENSTA-ParisTech<br />
Co-Chair<br />
15:00–15:15 WedET5.1<br />
Semantic Object Maps for Robotic Housework –<br />
Representation, Acquisition and Use<br />
Dejan Pangercic¹, Moritz Tenorth², Benjamin Pitzer¹, Michael Beetz³<br />
Robert Bosch LLC-USA¹, IRC ATR-Japan², University of Bremen-Germany³<br />
� End-to-end system for autonomous<br />
building of Semantic Object Maps (SOMs)<br />
for service robots operating in household<br />
environments<br />
� SOMs store functional properties of<br />
objects, articulation models and textured<br />
3D meshes<br />
� SOMs are represented as symbolic<br />
knowledge bases with facts about the<br />
objects in the environment<br />
� SOMs are expressive and powerful<br />
resource of knowledge for service robots<br />
� Tested on PR2 robot + Kinect<br />
15:30–15:45 WedET5.3<br />
Playmate Robots That Can Act<br />
According to a Child's Mental State<br />
Kasumi Abe, Akiko Iwasaki, Tomoaki Nakamura<br />
and Takayuki Nagai<br />
Department of Mechanical Engineering and Intelligent Systems,<br />
The University of Electro-Communications, Japan<br />
Ayami Yokoyama, Takayuki Shimotomai,<br />
Hiroyuki Okada and Takashi Omori<br />
Department of Electrical Engineering, Tamagawa University, Japan<br />
•We propose a playmate robot that<br />
can play with a child.<br />
•The playmate robot should sustain a<br />
child‘s interest in play and forge a<br />
good relationship between the robot<br />
and the child.<br />
•We observed child’s play with a<br />
kindergarten teacher.<br />
Action selection model<br />
•The robot estimates the child's inner<br />
state and select an appropriate action<br />
according to the model.<br />
model<br />
15:15–15:30 WedET5.2<br />
A framework for the design of person following<br />
behaviors for social mobile robots<br />
Consuelo Granata and Philippe Bidaud<br />
Institut des Systèmes Intelligents et<br />
Robotique , UPMC-CNRS UMR 7222<br />
• Framework architecture combining three<br />
layers: perception, decision and control<br />
layers.<br />
• Laser+camera based detector and<br />
estimation of person’s state by EKF<br />
• Decision-making engine exploiting fuzzy<br />
rules to define robot behavior when<br />
dealing with uncertainties<br />
• System experimented in everyday-life<br />
environments to test performance in<br />
different contexts<br />
15:45–16:00 WedET5.4<br />
Planar Segmentation from Depth Images using<br />
Gradient of Depth Feature<br />
Bashar Enjarini and Axel Gräser<br />
IAT Institute, Bremen University, Germany<br />
• Introducing Gradient of Depth Feature<br />
(GoD) used for segmenting planar<br />
regions.<br />
• The GoD feature is parameter-less<br />
• Implementing the GoD feature in robust<br />
algorithm for segmenting depth images.<br />
• The proposed algorithm is robust to<br />
parameter changes.<br />
• The proposed algorithm is able to<br />
segment planar regions from non-planar<br />
objects as well (bottles, cylinders)<br />
• The proposed algorithm meet the<br />
segmentation quality of other stat-of-art<br />
algorithms<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–165–<br />
Example of segmenting a<br />
clustered scene using the<br />
proposed algorithm