● 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

● “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/

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

Robotic Setup

Pioneer platform

NAO Humanoid Robot

Microphone

Kinect 3D sensors

Laser scanner

Webcam

Terminal

Emergency buttons

Architecture

● Linux● ROS● C++ & Python

Robotic Movement● Dynamic navigation to waypoints● Obstacle avoidance● Footprint definition● Movie

name,x,y,angledesk,4.6938,-1.4838,66.4537Plant,0.3403,0.7027,144.7910couch,1.7412,-1.2893,-73.9569

Human detection

● Leg / Torso detector● Human segmentation● Colorhistogram● TLD Tracker

Face Recognition● Use of Eigenfaces● Nearest Neighbor → SVM classification● Prototypicality unknown rejection

Profile Face detection

●3D Kinect sensor●SVM training on:- 3000 Positive Images- 3000 Negative Image●Multi-scale Sliding window●Histogram of Oriented●Gradients (HOG)

Object grasping

●Limited hardware●Find a solution with your software!

Object grasping

●Limited hardware●Find a solution with your software!

Object grasping

●Limited hardware●Find a solution with your software!

Object grasping

●Limited hardware●Find a solution with your software!●Grasping through Reinforcement Learning

Natural language programming

Serve

Go to GrabGo to BringGrab

Serve(Go to → Grab → Bring)

●Redefining orders●Hierarchical Programming

Smoke detection

●Motion extraction●Morphology●Motion cropped video●Structural analysis in time- Chaotic- Structured

●Innovation Award Nomination●at World Championships

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

Emotion recognition

●PCA projection●Logistic regression

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

Thank you for your attention