This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields.

The work described in this paper explores a new solution for tracking multiple and dynamic objects in complex environments. An XPF (Extended Particle Filter) is used to implement a multimodal distribution that will represent the most probable estimation for each object position and velocity. A standard PF (Particle Filter) cannot be used with a variable number of obstacles; some other solutions have been tested in different previous works, but most of them require heavy computational resources at least for a high number of obstacles to be tracked. The solution described here includes a clustering procedure that increases the robustness of the probabilistic process in order to provide on-line adaptation to the variable number of clusters. The result is the XPFCP: Extended Particle Filter with Clustering Process. The presented algorithm has been tested using stereovision measurements; the results included in the paper show the efficiency of the proposed system.

Abstract-Nonverbal communication plays an important role in many aspects of our lives, such as in job interviews, where vis-à-vis conversations take place. This paper proposes a method to automatically detect body communicative cues by using video sequences of the upper body of individuals in a conversational context. To our knowledge, our work brings novelty by explicitly addressing the recognition of visual activity in a seated, conversational setting from monocular video, compared to most existing work in video-based motion capture, which targets full-body with lower limb activities. We first detect the person hands in the sequence by searching for the higher speed parts along the whole video. Then, aided by training a set of typical conversational movements, we infer the approximate 3D upper body pose, that we transfer to a low-dimensionality space in order to perform action recognition. We test our system in the context of job interviews, with several new databases that we make publicly available.

A hardware solution is presented to obtain the eigenvalues and eigenvectors of a real and symmetrical matrix using field-programmable gate arrays (FPGAs). Currently, this system is used to compute the eigenvalues and eigenvectors in covariance matrices for applications in digital image processing that make use of the principal component analysis (PCA) technique. The proposed solution in this paper is based on the Jacobi method, but in comparison with other related works, it presents a different architecture that remarkably improves execution time, while reducing the number of consumed resources of the FPGA.Index Terms-CORDIC, eigenvalue, eigenvector, field-programmable gate array (FPGA).

This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.