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  • PUBLIC DELIVERABLES

    D2.1 Report on user behavior

    V. Charissi, M. Lohse, C. Zaga, V. Evers - University of Twente
    This deliverable presents the first results of WP 2 (Robust User Interaction in Crowded Environments). It addresses mainly T2.1 (User Behavior Analysis and Scenario Definition) based on a contextual analysis on children's collaborative play (without robot) and a first user study on children's engagement with a robot. It also includes a first corpus of annotated data from the first user study.

    Object relation dataset

    S. Krivic - University of Innsbruck
    This dataset contains the set of possible object-object spatial relations. Learning object-object relations is a difficult problem with sparse, noisy, corrupted and incomplete information which makes it an interesting and challenging machine learning problem. We formulate this problem as the problem of learning missing edges in a multigraph.

    TUW Toy Models Dataset

    TU Vienna
    This website provides models of various toys learned using a mobile robot with an Asus Xtion Pro Live. Each model consists of a point cloud of the complete object and the set of all training views with their poses relative to the first view and with a segmentation mask per view. The dataset also contains mesh models for some of the objects. The model database consists of 19 objects, where some objects are modelled more than once in different poses (lying on different sides). The database contains rigid (plastic) as well as soft (plush animals) objects.

    TUW Object Instance Recognition Dataset

    TU Vienna
    This website provides annotated RGB-D point clouds of indoor environments. The TUW dataset contains sequences of point clouds in 15 static and 3 partly dynamic environments. Each view of a scene presents multiple objects; some object instances occur multiple times and are highly occluded in certain views. The model database consists of 17 models with a maximum extent of 30 cm, which are partly symmetric and/or lack distinctive surface texture. The dataset consists of the reconstructed 3D object models, the individual key frames of the models, test scenes and the 6DOF pose of each object present in the respective view. Each point cloud is represented by RGB color, depth and normal information. Furthermore, we provide annotation for the Willow and Challenge dataset.


    PUBLIC SOFTWARE REPOSITORIES

    squirrel_robotino

    This repository holds packages for hardware launch files and configuration, as well as the simulation model for starting up the basic layer for operating Robotino. It can be reused by any user who operates an own Robotino platform.

    https://github.com/squirrel-project/squirrel_robotino

    squirrel_common

    Repository for message, service and action interface related SQUIRREL packages. This repository is necessary to operate other SQUIRREL repositories.

    https://github.com/squirrel-project/squirrel_common

    squirrel_driver

    This repository includes packages that provide access to the Robotino hardware over ROS messages and services, e.g. for mobile base, arm, camera sensors, scanners, etc.

    https://github.com/squirrel-project/squirrel_driver

    squirrel_calibration

    Bundles the automatic calibration procedures for determining the mounting positions of laser scanner, pan-tilt unit, camera, and arm. This repository can be beneficial to any user who operates a robot with similar components (laser scanners, cameras, arms in general) as the SQUIRREL Robotino.

    https://github.com/squirrel-project/squirrel_calibration

    squirrel_recommender

    This repository contains a collection of files, scripts, manuals and other things that can be used to setup the Robotino platform. Furthermore, it contains backups of configuration files.

    https://github.com/squirrel-project/squirrel_recommender

    squirrel_manipulation

    This repository contains the software concerned with the manipulation tasks of the project, e.g. planning of trajectories, pick and place actions, object manipulation, etc.

    https://github.com/squirrel-project/squirrel_manipulation

    squirrel_motion_planner

    Contains the 8-DOF motion planner utilized by the squirrel_manipulation repository.

    https://github.com/squirrel-project/squirrel_motion_planner

    squirrel_nav

    This is the repository for navigation, localization and mapping related SQUIRREL packages.

    https://github.com/squirrel-project/squirrel_nav

    squirrel_perception

    This repository contains packages for attention, segmentation, object perception, and tracking.

    https://github.com/squirrel-project/squirrel_perception

    squirrel_hri

    Contains various human robot interaction modules such as human tracking and gesture recognition, speech understanding, expressive behaviors and engagement detection.

    https://github.com/squirrel-project/squirrel_hri

    squirrel_prediction

    Repository for prediction and learning related packages.

    https://github.com/squirrel-project/squirrel_prediction

    squirrel_planning

    This repository contains the software related to the planning activities.

    https://github.com/squirrel-project/squirrel_planning

    ROSPlan

    The ROSPlan framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It possesses a simple interface, and already includes interfaces to common ROS libraries.

    https://github.com/KCL-Planning/ROSPlan

    SMTPlan

    SMTPlan+ is a planner for hybrid systems. It supports all the features of PDDL+, including exogenous events and continuous processes.

    https://github.com/KCL-Planning/SMTPlan
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