Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator, denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of the Bayesian approach are proposed, the...

Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator, denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of the Bayesian approach are proposed, the...

In this paper, we propose a novel approach for facial expression analysis and recognition. The main contributions of the paper are as follows. First, we propose a temporal recognition scheme that classifies a given image in an unseen video into one of the universal facial expression categories using an analysis–synthesis scheme. The proposed approach relies on tracked facial actions provided by...

In this paper the methodology of programming a Darwin-Op® humanoid robot for the assistance of an artistic performance is shown. A performance is composed of elements that express emotions and feelings in people, fulfilling a series of movements defined by sequentially angles, lengths of the limbs and joints of the body. A biomechanical analysis was done for a dimensional relationship between h...

Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot s...

In this paper a discrete-time sliding mode approach for the control of nonholonomic robots performing a leader following task is presented. The task can be seen as a service task for bringing robots to a working area. Our aim is to design, develop and test a new software and hardware framework for formation and coalition problems in a mobile multi robot scenario. Given a desired robot coalition...

OF THESIS Joint Visual and Wireless Tracking System Object tracking is an important component in many applications including surveillance, manufacturing, inventory tracking, etc. The most common approach is to combine a surveillance camera with an appearance-based visual tracking algorithm. While this approach can provide high tracking accuracy, the tracker can easily diverge in environments wh...

This paper addresses the problem of controlling a mobile robot using a small, portable user interface. In some applications, including security and military, a user might command a mobile robot in the field using a wearable computer. The wearable computer may have a small display that would make information delivery difficult. Also, full video feedback from the robot may not be available due to...

Visual object tracking is a critical task in computer vision. Challenging things always exist when an object needs to be tracked. For instance, background clutter is one of the most challenging problems. The mean-shift tracker is quite popular because of its efficiency and performance in a range of conditions. However, the challenge of background clutter also disturbs its performance. In this a...

Service robotics is a rapidly growing area of interest in robotics research. Service robots inhabit human-populated environments and carry out specific tasks. The goal of this dissertation is to develop a service robot capable of following a human leader around populated indoor environments. A classification system for person followers is proposed such that it clearly defines the expected inter...