MSc Artificial Intelligence(University of Groningen)
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Transcript of 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● “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
MicrophoneKinect 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