ToBI - Team of Bielefeld : The Human - Robot Interaction System for RoboCup @ Home 2014

The Team of Bielefeld (ToBI) has been founded in 2009. The RoboCup activities are embedded in a long-term research history towards human-robot interaction with laypersons in regular home environments. The RoboCup@Home competition is an important benchmark and milestone for this goal in terms of robot capabilities as well as the system engineering approach. For RoboCup 2014, we mainly improved abilities for the perception-based understanding of the robot’s environment. An Articulated Scene Model (ASM) is used to systematically fuse scene change events with the perception of the 3D room structure. This is further elaborated by an Implicit Shape Model (ISM) for furniture recognition.