Call3 Monitoring ERICA

Public Summary Month 6/2013

Fri, 02 Aug 2013 13:17:57 GMT

In May and June, the work was focused on the design and implementation of a movement gesture concept and corresponding task planning developments. Moreover an object recognition scheme was implemented for seamless gesture based object selection.
Also, the ideas for the two stage gesture classification approach and the whole Human Robot Collaboration (HRC) system were presented at a workshop at the Robotics: Science and Systems conference in Berlin.

Public Summary Month 4/2013

Fri, 02 Aug 2013 13:17:06 GMT

In March and April, the work was focused on the further development of the command gesture approach and the task planning module. Also, the ideas for the robust command gesture classification were submitted as a paper at a workshop at the Robotics: Science and Systems conference in Berlin.
The previous command gesture approach was enhanced with a second processing stage, in order to deal with the high false positives rate of the gesture recognition.

Public Summary Month 2/2013

Tue, 02 Apr 2013 14:22:11 GMT

In January and February, the work was focused on the development of probabilistic methods for the gesture based human robot interaction (tasks 4), and the task planning and task dependent adaption of robot motion planning (task 5). Also the deliverables 2.1 and 2.2 were completed.
For the hand gesture analysis, a probabilistic hidden markov model based system was designed, developed, and integrated into the HRC framework.
Also, a simple task planning module was designed and implemented, which processes the joint scene analyses of HMM-based action recognition and DL-based situation awareness.

Public Summary Month 12/2012

Tue, 29 Jan 2013 18:29:23 GMT

In November and December the focus lay on tasks 4 and 5 for the IPR, in which gesture and action recognition and path planning was to be incorporated into the framework. For task 4, the conceptual design of the gesture based interaction was determined and two gesture classes were identified. In task 5 especially the path planning module was developed and incorporated into the experiment framework.
Project partner Reis Robotics checked the defined 4 experiments concerning safety issues and made a risk analysis involving a Reis safety expert. KUKA worked out an alternative scenario for experiment 5, involving gesture based interaction with their mobile platform.

Public Summary Month 10/2012

Thu, 22 Nov 2012 08:51:07 GMT

In September and October 2012, the work was focused on gesture and action recognition. So far, it is based on Description Logics (DLs) which uses a taxonomy about actions, activities and gestures as a knowledge base. Recognition results are inferred directly by providing assertional knowledge which state information about human kinematics and robotic state. Moreover, preliminary linking concepts have been included into the knowledge base in order to allow for incorporation of stochastical methods for action and gesture recognition.

Public Summary Month 8/2012

Fri, 14 Sep 2012 17:08:40 GMT

In July and August the work was focused on the completion of task 2 and task 3. At the end of August a meeting with our partners KUKA and Reis was held at the IPR[1], where the results of task 2 and 3 were presented. Also their role in the upcoming tasks 4 and 5 were discussed and defined. For the completion of the tasks 2 and 3, the still missing swept modelling and based on this the distance calculation were designed and implemented. Also a final system setup was created as a basis for the following tasks.

[1] Institute for Process Control and Robotics

Public Summary Month 6/2012

Thu, 23 Aug 2012 22:18:38 GMT

In May and June the work was focused on the training of the classifier for the body part detection, and the build-up of the multi-camera setup including the implementation of the calibration and registration step. Unfortunately the training of the classifier did not deliver the expected results, so that the existing approach will be used for the ICP tracking. After the installation of the sensors in the experiment setup, and the implementation of the calibration and registration step, the sensor system now consists of 3 Kinect and one time-of-flight sensor.

Public Summary Month 4/2012

Mon, 07 May 2012 11:25:25 GMT

In March and April, the work focused on the important task of human pose recognition based on an ICP[1] approach, and the environment modeling, done with the OpenGL framework. To improve the results of the ICP approach, a second method[2] will be incorporated in the estimation process. Therefore, a rendering pipeline has been implemented to produce synthetic data, which will be used for the training process of a classifier.

[1] Iterative Closest Point

[2] J.Shotton, A.Fitzgibbon, M.Cook, et al.:Real-time human pose recognition in parts from single depth images. Cvpr (2011), 1297-1304

Public Summary Month 2/2012

Fri, 04 May 2012 09:33:33 GMT

In January and February most of the work was put into the implementation of essential elements from the cognitive system, like the core software framework and the optical flow estimation module. The structure of the core framework strictly implements the idea of modular system design. Essential modules were programmed, performing the task of camera data streaming, visualization and optical flow estimation. The latter is a framework itself, providing the functionality of real time optical flow estimation based on the variational approach.

Public Summary Month 1/2011

Fri, 27 Jan 2012 12:01:40 GMT

The work in 2011 was focused on defining requirements and characterizing components of the system,which will be used to carry out the experiments. In cooperation with our partners, Reis Robotics and KUKA, the experiments were discussed. As our partners are developers and manufacturers in the field of industrial robotics, there was a lot of input on their behalf, which helped to refine our ideas for the experiments. Refinement in the sense of carrying out experiments which apply to existing human-robot-cooperation, as well as to scenarios which can be tagged as “something you want to have”.