Vision-based Search Behavior for Mobile Robots featuring the Bielefeld Robot Companion (BIRON)

For interaction with humans in a real world scenario a visual
understanding of the environment is indispensable. Finding an object in
an unknown space with a mobile robot is one of the main challenges in
domestic service robotics.
This video presents an object search behavior for a mobile robot that
reduces the search space by applying a novel kind of spatial attention
system. Different visual cues are mapped in a SLAM-like manner in order
to identify hypotheses for possible object locations. These locations
are scanned for known objects using a recognition method consisting of
two complementary pathways --- a detector measuring color distributions
and a classifier using a SVM with a Pyramid Matching Kernel. The
usefulness of the proposed approach was shown by conducting an
evaluation with the domestic robot BIRON in a real world apartment scenario.

Category:

Science & Technology

Tags:

• Citec
• BIRON
• Robotics
• Mobile Robotics
• Sven Wachsmuth
• Leon Ziegler
• Frederic Siepmann
• Marko Kortkamp
• Bielefeld
• Universität Bielefeld
• Bielefeld University