1. ● 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/

2. 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/

3. BORG team ● PhD. Student and ± 8 Master students ● Developmental robot: Sudo ● Approximated €15.000 ● Participation in 2013: - Iran Open2 nd - German Open4 th - World Championships4 th

4. Robotic Setup Pioneer platform NAO Humanoid Robot Microphone Kinect 3D sensors Laser scanner Webcam Terminal Emergency buttons

5. Architecture ● Linux ● ROS ● C++ & Python

6. Robotic Movement ● Dynamic navigation to waypoints ● Obstacle avoidance ● Footprint definition ● Movie Movie name,x,y,angle desk,4.6938,-1.4838,66.4537 Plant,0.3403,0.7027,144.7910 couch,1.7412,-1.2893,-73.9569

7. Human detection ● Leg / Torso detector ● Human segmentation ● Colorhistogram ● TLD Tracker

8. Face Recognition ● Use of Eigenfaces ● Nearest Neighbor → SVM classification ● Prototypicality unknown rejection

9. Profile Face detection ● 3D Kinect sensor ● SVM training on: - 3000 Positive Images - 3000 Negative Image ● Multi-scale Sliding window ● Histogram of Oriented ● Gradients (HOG)

10. Object grasping ● Limited hardware ● Find a solution with your software!

11. Object grasping ● Limited hardware ● Find a solution with your software!

12. Object grasping ● Limited hardware ● Find a solution with your software!

13. Object grasping ● Limited hardware ● Find a solution with your software! ● Grasping through Reinforcement Learning Grasping through Reinforcement Learning

14. Natural language programming Serve Go to Grab Go to Bring Grab Serve (Go to → Grab → Bring) ● Redefining orders ● Hierarchical Programming

15. Smoke detection ● Motion extraction ● Morphology ● Motion cropped video ● Structural analysis in time - Chaotic - Structured ● Innovation Award Nomination ● at World Championships

16. 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

17. Emotion recognition ● PCA projection ● Logistic regression

18. 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

19. Thank you for your attention