Research Project

RobTaskCoop: Cooperación robots humanos en áreas urbanas

Type

National Project

Start Date

01/01/2011

End Date

31/12/2013

Project Code

DPI2010-17112

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Staff

Project Description

The use of robots will be in the near future extended to new demanding applications to help humans in everyday tasks, where cooperative and the friendly interaction with humans will be at the core of the robotic system. Examples are leisure, domestic tasks, shopping or elderly guidance assistance, entertainment, urban tasks, rescue, shop-floor tasks, etc. In order to achieve this advanced form of social interaction, robots in combination with the environment systems (the NRS – Network Robot Systems) have to incorporate perception systems, such as cameras to detect, identify and track people; social robot communication abilities, such as motion (positioning, adaptability and anticipatory behavior), speech and gesture capabilities; and social robot behaviors, for example guide people from one place to another.
The general objective of this project is to design new techniques of cooperation between robots and human beings for doing tasks in urban environments, using the information obtained from the robot and environment (network cameras) perception systems. Specifically we want to advance in the development of new techniques in: localization and navigation in urban areas in dense urban areas; robot and environment perception (human action detection and tracking) where illuminant conditions can change; learning and adaptation of robot-human interaction; and designing new models for robot-human task cooperation (for example in guiding people). In order to do the project we will use our laboratories (BRL) and robots, Tibi & Dabo and a plaform robot. We will test these new techniques in the Barcelona Robot Lab (BRL) a real 10.000m2 outdoor scenario located at the North Campus of the UPC. The cooperation between robots and person will be tested in guiding people task and cooperative and coordinate transportation of people.

Project Publications

Journal Publications

  • G. Sanroma, R. Alquézar Mancho and F. Serratosa i Casanelles. A new graph matching method for point-set correspondence using the EM algorithm and Softassign. Computer Vision and Image Understanding, 116(2): 292-304, 2012.

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  • M. Villamizar, J. Andrade-Cetto, A. Sanfeliu and F. Moreno-Noguer. Bootstrapping boosted random Ferns for discriminative and efficient object classification. Pattern Recognition, 45(9): 3141-3153, 2012.

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  • G. Sanroma, R. Alquézar Mancho, F. Serratosa i Casanelles and B. Herrera. Smooth point-set registration using neighboring constraints. Pattern Recognition Letters, 33(15): 2029-2037, 2012.

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  • I. Huerta, A. Amato, F. Xavier Roca and J. Gonzàlez. Exploiting multiple cues in motion segmentation based on background subtraction. Neurocomputing, 100: 183-196, 2013.

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  • A. Garrell Zulueta and A. Sanfeliu. Cooperative social robots to accompany groups of people. The International Journal of Robotics Research , 31(13): 1675-1701, 2012.

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  • A. Solé, F. Serratosa i Casanelles and A. Sanfeliu. On the graph edit distance costs: properties and applications. International Journal of Pattern Recognition and Artificial Intelligence , 26(5): 1260004, 2012.

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Conference Publications

  • G. Sanroma, R. Alquézar Mancho and F. Serratosa i Casanelles. Smooth simultaneous structural graph matching and point-set registration, 8th IAPR Workshop on Graph-based Representations in Pattern Recognition, 2011, Münster, Germany, in Graph-based Representations in Pattern Recognition, Vol 6658 of Lecture Notes in Computer Science, pp. 142-151, 2011, Springer.

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  • E. Serradell, A. Romero, R. Leta, C. Gatta and F. Moreno-Noguer. Simultaneous correspondence and non-rigid 3D reconstruction of the coronary tree from single X-ray images, 2011 International Conference on Computer Vision, 2011, Barcelona, pp. 850-857, IEEE.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Detection performance evaluation of boosted random Ferns, 5th Iberian Conference on Pattern Recognition and Image Analysis, 2011, Las Palmas de Gran Canaria, in Pattern Recognition and Image Analysis, Vol 6669 of Lecture Notes in Computer Science, pp. 67-75, 2011, Springer.

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  • A. Solé, G. Sanroma, F. Serratosa i Casanelles and R. Alquézar Mancho. Group-wise sparse correspondences between images based on a common labelling approach, 7th International Conference on Computer Vision Theory and Applications, 2012, Rome, Italy, pp. 269-278, INSTICC.

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  • J. Scandaliaris and A. Sanfeliu. Probabilistic invariant image representation and associated distance measure, 21st International Conference on Pattern Recognition, 2012, Tsukuba, Japan, pp. 3569-3572, IEEE Computer Society.

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  • M. Villamizar, A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Online human-assisted learning using random ferns, 21st International Conference on Pattern Recognition, 2012, Tsukuba, Japan, pp. 2821-2824, IEEE Computer Society.

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  • M. Igelmo and A. Sanfeliu. Compact form of the pseudo-inverse matrix in the approximation of a star graph using the conductance electrical model (CEM), 14th Joint IAPR International Workshop on Structural, Syntactic and Statistical Pattern Recognition, 2012, Hiroshima, Japan, in Structural, Syntactic, and Statistical Pattern Recognition, Vol 7626 of Lecture Notes in Computer Science, pp. 539-547, 2012, Springer.

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  • E. Trulls Fortuny, A. Sanfeliu and F. Moreno-Noguer. Spatiotemporal descriptor for wide-baseline stereo reconstruction of non-rigid and ambiguous scenes, 12th European Conference on Computer Vision, 2012, Florence, Italy, in Computer Vision, Vol 7574 of Lecture Notes in Computer Science, pp. 441-454, 2012, Springer.

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  • M. Villamizar, H. Grabner, J. Andrade-Cetto, A. Sanfeliu, L. Van Gool and F. Moreno-Noguer. Efficient 3D object detection using multiple pose-specific classifiers, 2011 British Machine Vision Conference, 2011, Dundee, UK, pp. 20.1-20.10.

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  • A. Garrell Zulueta, A. Corominas Murtra and A. Sanfeliu. Robot companions for guiding people in urban areas, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 419-426.

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