MoveCare: Multiple-actOrs Virtual Empathic CARgiver for the Elder

(Jun’17–Jan’20)
International Project

@inproceedings{raul2021iccv,

title = {LaLaLoc: Latent Layout Localisation in Dynamic, Unvisited Environments},

author = {Howard-Jenkins, Henry and Ruiz-Sarmiento, J. R. and Prisacariu, Victor Adrian},

url = {https://openaccess.thecvf.com/content/ICCV2021/papers/Howard-Jenkins_LaLaLoc_Latent_Layout_Localisation_in_Dynamic_Unvisited_Environments_ICCV_2021_paper.pdf},

doi = {10.48550/arXiv.2104.09169},

year  = {2021},

date = {2021-10-01},

booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},

pages = {10107-10116},

abstract = {We present LaLaLoc to localise in environments without the need for prior visitation, and in a manner that is robust to large changes in scene appearance, such as a full rearrangement of furniture. Specifically, LaLaLoc performs localisation through latent representations of room layout. LaLaLoc learns a rich embedding space shared between RGB panoramas and layouts inferred from a known floor plan that encodes the structural similarity between locations. Further, LaLaLoc introduces direct, cross-modal pose optimisation in its latent space. Thus, LaLaLoc enables fine-grained pose estimation in a scene without the need for prior visitation, as well as being robust to dynamics, such as a change in furniture configuration. We show that in a domestic environment LaLaLoc is able to accurately localise a single RGB panorama image to within 8.3cm, given only a floor plan as a prior.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{luperto_2021_ecmr,

title = {What is my Robot Doing? Remote Supervision to Support Robots for Older Adults Independent Living: a Field Study},

author = {Luperto, Matteo and Romeo, Marta and Monroy, Javier and Vuono, Alessandro and Basilico, Nicola and Gonzalez-Jimenez, Javier and Borghese, N. Alberto},

url = {https://mapir.isa.uma.es/papersrepo/2021/2021_luperto_ECMR_MoveCare_remote_monitoring.pdf},

doi = {10.1109/ECMR50962.2021.9568839},

year  = {2021},

date = {2021-01-01},

booktitle = {European Conference on Mobile Robots (ECMR)},

publisher = {IEEE},

address = {Bonn, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{sambalmol_APPIS_2020_face,

title = {A Face Recognition System for Assistive Robots},

author = {Baltanas-Molero, Samuel-Felipe and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},

doi = {10.1145/3378184.3378225},

year  = {2020},

date = {2020-01-01},

booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},

address = {Las Palmas de Gran Canaria (Spain)},

abstract = {Assistive robots collaborating with people demand strong Human-Robot interaction capabilities. In this way, recognizing the person the robot has to interact with is paramount to provide a personalized service and reach a satisfactory end-user experience. To this end, face recognition: a non-intrusive, automatic mechanism of identification using biometric identifiers from an user’s face, has gained relevance in the recent years, as the advances in machine learning and the creation of huge public datasets have considerably improved the state-of-the-art performance. In this work we study different open-source implementations of the typical components of state-of-the-art face recognition pipelines, including face detection, feature extraction and classification, and propose a recognition system integrating the most suitable methods for their utilization in assistant robots. Concretely, for face detection we have considered MTCNN,  OpenCV’s DNN, and OpenPose, while for feature extraction we have analyzed InsightFace and Facenet. We have made public an implementation of the proposed recognition framework, ready to be used by any robot running the Robot Operating System (ROS). The methods in the spotlight have been compared in terms of accuracy and performance in common benchmark datasets, namely FDDB and LFW, to aid the choice of the final system implementation, which has been tested in a real robotic platform.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{luperto_ecmr_19,

title = {Towards Long-Term Deployment of a Mobile Robot for at-Home Ambient Assisted Living of the Elderly},

author = {Luperto, Matteo and Monroy, Javier and Ruiz-Sarmiento, J. R. and Moreno, Francisco-Angel and Basilico, Nicola and Gonzalez-Jimenez, Javier and Borghese, N. Alberto},

url = {https://mapir.isa.uma.es/papersrepo/2019/2019_luperto_ECMR_Long_term_deployment_AAS.pdf},

doi = {10.1109/ECMR.2019.8870924},

year  = {2019},

date = {2019-09-01},

booktitle = {European Conference on Mobile Robots (ECMR)},

address = {Prague, Czech Republic},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{jaenal2019,

title = {Experimental Study of the Suitability of CNN-based Holistic Descriptors for Accurate Visual Localization},

author = {Jaenal, Alberto and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},

url = {https://mapir.isa.uma.es/papersrepo/2019/2019_jaenal_APPIS_A_good_holistic_image_feature_for_localization.pdf

http://doi.acm.org/10.1145/3309772.3309800},

doi = {10.1145/3309772.3309800},

isbn = {978-1-4503-6085-2},

year  = {2019},

date = {2019-01-01},

booktitle = {Proceedings of the 2Nd International Conference on Applications of Intelligent Systems},

pages = {28:1--28:6},

publisher = {ACM},

address = {New York, NY, USA},

series = {APPIS '19},

abstract = {Holistic Image Descriptors (HIDs) are compact representations of a whole image that, being suitable for Place Recognition, are not appropriate for accurate Visual Localization. The most successful HIDs are those extracted from Convolutional Neural Networks (CNNs) like VGG, ResNet, InceptionV4 or NetVLAD. Very recently, the equivariance property has been proposed to reflect how image 2D transformations (e.g. rotation, flip, scale changes) influence the descriptor [17]. Our work experimentally analyzes whether such property can be a good indicator of the suitability of the existing CNN-based HID for estimating changes in the camera pose, which produces more complex transformations of the image than the pure transformations analyzed in [17]. The results we report here are a preliminary work in the context of an ongoing project towards appearance-based localization of autonomous mobile robots.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{garcia-salguero_APPIS_2018_games,

title = {Extending an Assistance Robot with the Ability to Play Board Games},

author = {Garcia-Salguero, Mercedes and Monroy, Javier and Galindo, Cipriano and Gonzalez-Jimenez, Javier},

url = {https://mapir.isa.uma.es/papersrepo/2019/2019_mercedes_APPIS_Extending_An_Assitance_Robot_With_The_Ability_To_Play_Board_Games.pdf},

doi = {10.1145/3309772.3309799},

year  = {2019},

date = {2019-01-01},

booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},

address = {Las Palmas de Gran Canaria (Spain)},

abstract = {This paper presents an interactive game system integrated in a mobile robot. Our proposal enables assistant 

 obots to provide cognitive and entertainment games to elders with the aim of improving skills like memory, 

 eflexes, or hand-eye coordination, which are jeopardised in aged people. To gain in user acceptance, the game

is virtually recreated by projecting the game board over a table by means of a small projector mounted on the robot. The user can naturally interact with the projected board while him/her movements are detected by the perception system of the robot. To validate the proposed system, a practical case is presented in a laboratory

environment.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{mergarsal_APPIS_2019_appro,

title = {Socially Acceptable Approach to Humans by a Mobile Robot},

author = {Garcia-Salguero, Mercedes and Monroy, Javier and Solano, Alejandro and Gonzalez-Jimenez, Javier},

url = {https://mapir.isa.uma.es/papersrepo/2019/2019_mercedes_APPIS_Socially_Acceptable_Approach_To_Humans_By_A_Mobile_Robot.pdf},

doi = {10.1145/3309772.3309793},

year  = {2019},

date = {2019-01-01},

booktitle = {International Conference on Applications of Intelligent Systems (APPIS)},

address = {Las Palmas de Gran Canaria (Spain)},

abstract = {In this paper we propose a solution to endow a mobile robot with the ability to approach humans in a safe and 

 ocially acceptable way. Our proposal focuses on real world indoor environments where the usual presence of 

 ultiple humans and obstacles notably rise the complexity of the approach action. We first deal with the problem of accurately estimating the 3D poses of all humans in the work space (positions and orientations), to then focus on the estimation of the most appropriate navigation goal from which the robot should start the interaction with the user. For the latter, we define a cost function that, accounting for multiple proxemic parameters and complying with the restrictions inherent of a robot navigating in a human environment, enables ascertaining an optimal solution. Different experiments are presented to demonstrate the feasibility of our proposal to work under real world conditions.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{luperto_IROS2018,

title = {A Multi-Actor Framework Centered around an Assististe Mobile Robot for Elderly People Living Alone},

author = {Luperto, Matteo and Monroy, Javier and Moreno, Francisco-Angel and Ruiz-Sarmiento, J. R. and Basilico, Nicola and Gonzalez-Jimenez, Javier and Borghese, N. Alberto},

url = {https://mapir.isa.uma.es/papersrepo/2018/2018_luperto_IROS__Assisted_Living_of_Pre_Frail_Elders_Using_an_Autonomous_Robot_and_a_Multi_Actor_Framework.pdf},

year  = {2018},

date = {2018-01-01},

booktitle = {IEEE International Conference on Intelligent Robots - Workshop on Robots for Assisted Living (IROS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{raul2017icarsc,

title = {Online Context-based Object Recognition for Mobile Robots},

author = {Ruiz-Sarmiento, J. R. and Guenther, Martin and Galindo, Cipriano and Gonzalez-Jimenez, Javier and Hertzberg, Joachim},

url = {https://mapir.isa.uma.es/papersrepo/2017/2017-raul-ICARSC-Online_Context-based_Object_Recognition_for_Mobile_Robots.pdf},

year  = {2017},

date = {2017-04-01},

booktitle = {17th International Conference on Autonomous Robot Systems and Competition (ICARSC)},

address = {Coimbra, Portugal},

abstract = {This work proposes a robotic object recognition system that takes advantage of the contextual information latent in human-like environments in an online fashion. To fully leverage context, it is needed perceptual information from (at least) a portion of the scene containing the objects of interest, which could not be entirely covered by just an one-shot sensor observation. Information from a larger portion of the scenario could still be considered by progressively registering observations, but this approach experiences difficulties under some circumstances, e.g. limited and heavily demanded computational resources, dynamic environments, etc. Instead of this, the proposed recognition system relies on an anchoring process for the fast registration and propagation of objects' features and locations beyond the current sensor frustum. In this way, the system builds a graph-based world model containing the objects in the scenario (both in the current and previously perceived shots), which is exploited by a Probabilistic Graphical Model (PGM) in order to leverage contextual information during recognition. We also propose a novel way to include the outcome of local object recognition methods in the PGM, which results in a decrease in the usually high CRF learning complexity. A demonstration of our proposal has been conducted employing a dataset captured by a mobile robot from restaurant-like settings, showing promising results.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{fernandezchaves2017,

title = {Mejora del Comportamiento Proxémico de un Robot Autónomo mediante Motores de Inteligencia Artificial Desarrollados para Plataformas de Videojuegos},

author = {Fernandez-Chaves, David and Monroy, Javier and Gonzalez-Jimenez, Javier},

url = {https://mapir.isa.uma.es/papersrepo/2017/2017_dchaves_JA_mejora_proxemica_robot.pdf},

year  = {2017},

date = {2017-09-01},

booktitle = {Actas de las XXXVIII Jornadas de Automática},

address = {Gijón, Spain},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}