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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.

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MSc Artificial Intelligence(University of Groningen)

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  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

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