Research Project

RobTaskCoop: Cooperación robots humanos en áreas urbanas

Type

National Project

Start Date

01/01/2011

End Date

30/06/2014

Project Code

DPI2010-17112

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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. Ferrer and A. Sanfeliu. Bayesian human motion intentionality prediction in urban environments. Pattern Recognition Letters, 44: 134-140, 2014.

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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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  • 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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  • 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

  • A. Goldhoorn, A. Garrell Zulueta, R. Alquézar Mancho and A. Sanfeliu. Un nuevo método cooperativo para encontrar personas en un entorno urbano con robots móviles, XXXVII Jornadas de Automática, 2016, Madrid, pp. 206-213.

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  • G. Ferrer and A. Sanfeliu. Behavior estimation for a complete framework for human motion prediction in crowded environments, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 5940-5945.

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  • G. Ferrer and A. Sanfeliu. Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, Chicago, pp. 1730-1735.

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  • M. Villamizar, A. Sanfeliu and F. Moreno-Noguer. Fast online learning and detection of natural landmarks for autonomous aerial robots, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 4996-5003.

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  • A. Rubio, M. Villamizar, L. Ferraz, A. Penate-Sanchez, A. Sanfeliu and F. Moreno-Noguer. Estimación monocular y eficiente de la pose usando modelos 3D complejos, XXXV Jornadas de Automática, 2014, Valencia.

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  • A. Goldhoorn, A. Sanfeliu and R. Alquézar Mancho. Analysis of methods for playing human robot hide-and-seek in a simple real world urban environment, 1st Iberian Robotics Conference, 2013, Madrid, in Robot 2013: First Iberian Robotics Conference, Vol 252-3 of Advances in Intelligent Systems and Computing, pp. 505-520, 2014, Springer.

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  • E. Retamino and A. Sanfeliu. Human-robot collaborative scene mapping from relational descriptions, 1st Iberian Robotics Conference, 2013, Madrid, in Robot 2013: First Iberian Robotics Conference, Vol 252-3 of Advances in Intelligent Systems and Computing, pp. 331-346, 2014, Springer.

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  • E. Trulls Fortuny, I. Kokkinos, A. Sanfeliu and F. Moreno-Noguer. Dense segmentation-aware descriptors, 2013 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2013, Portland, pp. 2890-2897.

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  • A. Garrell Zulueta, M. Villamizar, F. Moreno-Noguer and A. Sanfeliu. Proactive behavior of an autonomous mobile robot for human-assisted learning, 22nd IEEE International Symposium on Robot and Human Interactive Communication, 2013, Gyeongju, Korea, pp. 107-113.

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  • G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Social-aware robot navigation in urban environments, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 331-336.

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  • G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Robot companion: A social-force based approach with human awareness-navigation in crowded environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, pp. 1688-1694.

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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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  • 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, 13th 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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  • 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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Other Publications

  • S. Hernández and F. Herrero. Autonomous navigation framework for a car-like robot. Technical Report IRI-TR-15-07, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2015.

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