http://www.tu-ilmenau.de

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Neuroinformatics and
Cognitive Robotics Lab

headerphoto Neuroinformatics and 
Cognitive Robotics Lab
Contact Person

Univ.-Prof. Dr.-Ing. Horst-Michael Groß

Head of department

Phone +49 3677 692858

Send email


INHALTE

Dipl.-Inf. Michael Volkhardt

Vita & Research

2008 - 2014scientific staff member at the Department of Neuroinformatics and Cognitive Robotics
2005internship at Honda Research Institute Europe GmbH
2002 - 2008study of computer science at the Ilmenau University of Technology


Research topics

  • multi-modal people tracking
  • fall detection on mobile robots
  • visual analysis of activity patterns

Publications

Papers available for download on the lab's publication page

2013

Volkhardt, M., Weinrich, Ch., Gross, H.-M. 
Multi-Modal People Tracking on a Mobile Companion Robot.
to appear: Proc. 6th European Conference on Mobile Robots (ECMR 2013), Barcelona, Spain, pp. ...

Volkhardt, M., Gross, H.-M.
Finding People in Home Environments with a Mobile Robot.
to appear: Proc. 6th European Conference on Mobile Robots (ECMR 2013), Barcelona, Spain, pp. ...

Volkhardt, M., Gross, H.-M.
Finding People in Apartments with a Mobile Robot.
to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Volkhardt, M., Weinrich, Ch., Gross, H.-M.
People Tracking on a Mobile Companion Robot.
to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Volkhardt, M., Schneemann, F., Gross, H.-M.
Fallen Person Detection with a Mobile Robot using 3D Depth Data.
to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Weinrich, Ch., Volkhardt, M., Gross, H.-M.
Appearance-Based 3D Upper-Body Pose Estimation and Person Recognition on Mobile Robots.
to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Schröter, Ch., Müller, S., Volkhardt, M., Einhorn, E., Huijnen, C., van den Heuvel, H., van Berlo, A. , Bley, A., Gross, H.-M.
Realization and User Evaluation of a Companion Robot for People with Mild Cognitive Impairments.
in: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 1145-1151, IEEE 2013

Weinrich, Ch., Volkhardt, M., Einhorn, E., Gross, H.-M.
Prediction of Human Avoidance Behavior by Lifelong Learning for Socially Compliant Robot Navigation.
in: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 376-381, IEEE 2013

2012

Gross, H.-M., Schröter, Ch., Müller, S., Volkhardt, M., Einhorn, E., Bley, A., Langner, T., Merten, M., Huijnen, C., van den Heuvel, H., van Berlo, A.
Further Progress towards a Home Robot Companion for People with Mild Cognitive Impairment.
in: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2012), Seoul, South Korea, pp. 637-644, IEEE 2012

Stricker, R., Müller, S., Einhorn, E., Schröter, C., Volkhardt, M., Debes, K., Gross, H.-M.
Interactive Mobile Robots Guiding Visitors in a University Building.
in: Proc. 21st IEEE Int. Symposium on Robot and Human Interactive Communication (Ro-Man 2012), Paris, France, pp. 695-700, IEEE 2012

Stricker, R., Müller, S., Einhorn, E., Schröter, C., Volkhardt, M., Debes, K., Gross, H.-M.
Konrad and Suse, Two Robots Guiding Visitors in a University Building.
in: Proc. Autonomous Mobile Systems (AMS 2012), Stuttgart, Germany, Informatik aktuell, pp. 49-58, Springer Verlag 2012

2011

Volkhardt, M., Mueller, S., Schroeter. Ch., Gross, H.-M.
Detection of Lounging People with a Mobile Robot Companion.
in: 4th International Conference on Intelligent Robotics and Applications, 2011, Aachen, Germany, December, pp. 328-337, 2011

Volkhardt, M., Mueller, S., Schroeter. Ch., Gross, H.-M.
Playing Hide and Seek with a Mobile Companion Robot.
in: 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, October 26-28, pp. 40-46, 2011

Gross, H.-M., Schroeter, Ch., Mueller, S., Volkhardt, M., Einhorn, E., Bley, A., Martin, Ch., Langner, T., Merten, M.
I’ll keep an Eye on You: Home Robot Companion for Elderly People with Cognitive Impairment.
in: IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2011), Anchorage, USA, pp. 2481-2488, IEEE 2011

Gross, H.-M., Schroeter, Ch., Mueller, S., Volkhardt, M., Einhorn, E., Bley, A., Martin, Ch., Langner, T., Merten, M.
Progress in Developing a Socially Assistive Mobile Home Robot Companion for the Elderly with Mild Cognitive Impairment.
in Proc. IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, pp. 2430-2437, IEEE Omnipress 

2010

Volkhardt, M., Mueller, S., Schroeter. Ch., Gross, H.-M.
Real-Time Activity Recognition on a Mobile Companion Robot.
in: Proc. 55th Int. Scientic Colloquium, Ilmenau, Germany, 2010, pp. 612-623, Verlag ISLE 2010

2009

Volkhardt, M., Weinrich Ch., Schroeter Ch., Gross, H.-M.
A Concept for Detection and Tracking of People in Smart Home Environments with a Mobile Robot.
in: 2nd CompanionAble Workshop co-located with the 3rd European Conference on Ambient Intelligence November 18th - 21st 2009, Salzburg, Austria

Volkhardt, M., Kalesse, S., Mueller, S., Gross, H.-M.
Maximum a Posteriori Estimation of Dynamically Changing Distributions.
Proc. 32nd Annual German Conference on Artificial Intelligence, Paderborn, 2009, Lecture Notes in Computer Science (LNAI) 5803, pp. 484-491, Springer Verlag 2009

Data Sets

People Tracking in Home Environments

Description

This data set contains multi-modal data for people detection and tracking in home environments captured by our mobile robot platform ScitosG3.

Citations

If you consider using the data sets on this page, please reference the following:

  • Volkhardt, M., Weinrich, Ch., Gross, H.-M.: People Tracking on a Mobile Companion Robot. to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Download

The data sets and labels can be downloaded from here.

The recommended format of the data sets as MIRA Tapes which is the recommended way. These tapes contain all the necessary sensor and robot data used in the paper. To use the tapes you need the open source Middleware for Robotic Applications (MIRA): www.mira-project.org

If you are planning to test pure visual methods, you can download the images of the data sets:

Annotations are given as Bounding Boxes in the pinhole camera and kinect images:

  • Direct Link to Annotations in RGB pinhole images + Kinect Depth data 

Annotations 

Annotations were made using the VATIC video annotation tool

  • Carl Vondrick, Donald Patterson, Deva Ramanan. "Efficiently Scaling Up Crowdsourced Video Annotation" International Journal of Computer Vision (IJCV). June 2012.

Format:

The labels are given as XML files in the format of the VATIC video annotation tool. 
An example annotation for one tape or corresponding image set looks as follows:

<annotations count="4">

<track id="0" label="Person">

<box frame="0" xtl="0" ytl="132" xbr="33" ybr="384" outside="1" occluded="0"></box>

<box frame="1" xtl="0" ytl="132" xbr="33" ybr="384" outside="1" occluded="0"></box>

[...]

<box frame="628" xtl="0" ytl="140" xbr="18" ybr="369" outside="0" occluded="1"></box>

</track>

[...]

<track id="2" label="Person">

<box frame="0" xtl="0" ytl="103" xbr="33" ybr="421" outside="1" occluded="0"></box>

[...]

<box frame="628" xtl="0" ytl="103" xbr="33" ybr="421" outside="1" occluded="0"></box>

</track>

</annotations>

, where count in the annotations tag denotes the number of tracks (people) in the file. Each track contains an id, a label and box annotations for each frame in the data set. The properties in the box tag denote the top left and bottom right point of the bounding box and if the person is outside of the image or occluded. 

Copyright and License Information

Copyright 2013 by Michael Volkhardt and Horst-Michael-Groß 

Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.

THE DATA SET IS PROVIDED WITHOUT ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE DATA SET PROVIDED IS ON AN "AS IS" BASIS, AND THE AUTHORS HAVE NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.