A real-time vision module for interactive perceptual agents

Maxwell, Bruce; Fairfield, Nathaniel; Johnson, Nikolas; Malla, Pukar; Dickson, Paul E.; Kim, Suor; Wojtkowski, Stephanie; Stepleton, Thomas

doi:10.1007/s00138-002-0094-x

Cited by 8 publications

(6 citation statements)

References 18 publications

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“…5. For a more detailed description of the design of a single module, (Maxwell et al, 2003) gives a complete description of the vision module.…”

Section: Module Organizationmentioning

confidence: 99%

“…r 1998-2002: Motion detection was a good way to differentiate plants and walls from people in a serving task. It was also possible to make rough estimates of their distance from the robot by considering the maximum height of the motion in the image because the camera was usually angled upwards (people further away would be lower in the image) (Maxwell et al, 2003). r 2000: We tried again to develop a face detection system based on color.…”

Section: Sensingmentioning

confidence: 99%

“…Over the course of eight years of robot development, however, we have also contributed to the technical development of the field, especially in the areas of social robot visual sensing and human-robot interfaces for robot teleoperation (Maxwell et al, 1999(Maxwell et al, , 2001(Maxwell et al, , 2003(Maxwell et al, , 2004b. Our focus throughout has been on tasks that require some kind of human interaction, either between the physical robot and a person in the case of a social robot, or through an interface for remote operation of a robot for Urban Search and Rescue [USAR].…”

Section: Introductionmentioning

confidence: 98%

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Building robot systems to interact with people in real environments

Maxwell

2007

Auton Robot

Self Cite

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Interacting with people poses a unique challenge for robots. While issues such as safety are well known, issues such as appearance and intuitive human-robot interfaces are also critical to success. The American Association for Artificial Intelligence Robot Competition has encouraged the development of robots that interact with people through competitions, challenges, and exhibitions. This paper describes the robot systems developed for eleven different events over eight years from 1998-2005 and examines the factors that led to both successes and failures. The primary lesson is that simplicity and robustness in sensing, behavior, and humanrobot interactions helps to counteract the uncertainty caused by people.

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“…5. For a more detailed description of the design of a single module, (Maxwell et al, 2003) gives a complete description of the vision module.…”

Section: Module Organizationmentioning

confidence: 99%

Section: Sensingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

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Building robot systems to interact with people in real environments

Maxwell

2007

Auton Robot

Self Cite

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“…The price to pay is the limitation that data in memory will make sense for only one day (at the most). Colour histograms of a person's body were used for short-term identification people in (Maxwell, 2003;Kahn, 1996;Maxwell et al, 1999) and also for people tracking (Krumm et al, 2000;Collins & Dennis, 2000). CASIMIRO achieves person identity maintenance by using colour histograms in conjunction with a simple person tracking algorithm.…”

Section: Person Recognitionmentioning

confidence: 99%

Practical Computer Vision Techniques for Interactive Robotic Heads

Déniz¹,

Lorenzo²,

Castrillón³

et al. 2008

Advances in Robotics, Automation and Control

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“…In subsequent work [18], Maxwell et al have their USAR robot generate stereo panoramas from its single camera; however, it is unclear whether this feature is actually used to enhance situation awareness.…”

Section: Related Workmentioning

confidence: 99%

Virtual 360° Panorama for Remote Inspection

Seeman

Broxvall

Saffiotti

2007

2007 IEEE International Workshop on Safety, Security and Rescue Robotics

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-The use of remotely operated robotic systems in security related applications is becoming increasingly popular. However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. In the context of an adjustable autonomy control architecture meant to relieve operators from unnecessary low-level tasks, we present an user interface technique for 360• virtual panorama video as a perception aid to increase the situation awareness in tele-operation tasks, and as a block in the overall adjustable autonomy control architecture. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our GroundBot robot. The work presented here is a step towards the overall goal of increasing the effectiveness of the GroundBot robot for remote inspection tasks.

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A real-time vision module for interactive perceptual agents

Cited by 8 publications

References 18 publications

Building robot systems to interact with people in real environments

Building robot systems to interact with people in real environments

Practical Computer Vision Techniques for Interactive Robotic Heads

Virtual 360° Panorama for Remote Inspection

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