Universal Usage of a Video Projector on a Mobile Guide Robot

In this paper, we present a holistic approach to enable mobile robots using video projection in a situation aware and dynamic way. Therefore, we show how to autonomously detect wall segments that are suitable to be used as projection target in a dynamic environment. We derive several quality measures to score the wall segments found in the local environment and show how these scores can be used by a particle swarm optimization to find the best local projection position for the mobile robot.

[1]  Peter Mayer,et al.  User Acceptance of a Mobile LED Projector on a Socially Assistive Robot , 2012 .

[2]  Sven Hellbach,et al.  Awakening history: Preparing a museum tour guide robot for augmenting exhibits , 2013, 2013 European Conference on Mobile Robots.

[3]  Erik Einhorn,et al.  Pilot - modular robot navigation for real-world applications , 2010 .

[4]  Chong Ho Lee,et al.  Interactive display robot: Projector robot with natural user interface , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[5]  Kentaro Ishii,et al.  Designing Laser Gesture Interface for Robot Control , 2009, INTERACT.

[6]  Horst-Michael Groß,et al.  Interactive mobile robots guiding visitors in a university building , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[7]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[8]  Christian Vollmer,et al.  Estimation of human upper body orientation for mobile robotics using an SVM decision tree on monocular images , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Gerard J. Kim,et al.  Humanoid robot vs. projector robot: exploring an indirect approach to human robot interaction , 2010, HRI 2010.

[10]  Gabriel Taubin,et al.  Simple, Accurate, and Robust Projector-Camera Calibration , 2012, 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission.

[11]  Wolfram Burgard,et al.  Using Boosted Features for the Detection of People in 2D Range Data , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Masatoshi Okutomi,et al.  A user-friendly method to geometrically calibrate projector-camera systems , 2009, 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops.

[13]  Horst-Michael Groß,et al.  Mobile Robotic Rehabilitation Assistant for walking and orientation training of Stroke Patients: A report on work in progress , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[14]  Wolfram Burgard,et al.  The dynamic window approach to collision avoidance , 1997, IEEE Robotics Autom. Mag..

[15]  Horst-Michael Groß,et al.  Multi-modal people tracking on a mobile companion robot , 2013, 2013 European Conference on Mobile Robots.

[16]  The Dynamic Window Approach to Collision Avoidance - IEEE Robotics & Automation Magazine , 2004 .

[17]  James Kennedy,et al.  Particle swarm optimization , 2002, Proceedings of ICNN'95 - International Conference on Neural Networks.

[18]  Paul A. Viola,et al.  Rapid object detection using a boosted cascade of simple features , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[19]  Yo Takahashi,et al.  Development of a guide robot interacting with the user using information projection — Basic system , 2011, 2011 IEEE International Conference on Mechatronics and Automation.

[20]  Horst-Michael Groß,et al.  MIRA - middleware for robotic applications , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.