Markovito’s Team(INAOE, Puebla, Mexico)

Team members

Sabina: hardware platform

• PeopleBot • Laser SICK LMS200• PTZ system - video

camera VCC5• Two rings of sonars

and infrared sensors• Stereo vision (videre)• Directional microphone

and speakers• Gripper 2 D.O.F and

bumpers

Map building

The initial map is built integrating laser and sonar scannerswith particle filters, represented as a probabilistic grid

Visual features (SIFT) are integratedto the map for improving localization

Navigation and Localization

Global and local localization is based on natural landmarks:corners and walls (laser), and SIFT (vision)

My flexible and robust navigation algorithm combines an initial plan based on PRMs with a reactive navigator that uses TOPs learned from examples

Face recognition

Localization and tracking

SIFT feature extraction

Face recognition

Video streaming

Results

Identification based on silhouettes

People identification uses stereo vision and is based on distance and silhouettes models

Can identify people standing or sitting, facing forward or seen from the side

Voice recognition, synthesis and animated face

Speech synthesis and recognition uses standard tools combined with text processing, directed by the coordinator according to the task

My animated face can express different emotions and it is synchronized with my speech

Object Manipuation

Rapidly Exploring random trees were implemented for motion planning in order to reach a grasping configuration.

The Katana arm provides to Sabina with object manipulation capabilities

Coordinator - MDP

The coordination of the different modules to perform certain task is based on a Markov decision process (MDPs)

According to each task in this competition, the reward function of the MDP is defined, and by solving the MDP an optimal policy is obtained

Architecture:Modular, Layered, Distributed

Locali-zation

VoiceNaviga-

tionGestures Faces

Follow Me

Who’swho

Silhouettes Objects…

Lost & Found

…

Sensors Actuators

Shared Memory

PLUGIN’SLEVEL

EXECUTIONLEVEL

DECISIONLEVEL

Bye…