D-touch: A Consumer-Grade Tangible Interface Module and Musical Applications

We define a class of tangible media applications that can be implemented on consumer-grade personal computers. These applications interpret user manipulation of physical objects in a restricted space and produce unlocalized outputs. We propose a generic approach to the implementation of such interfaces using flexible fiducial markers, which identify objects to a robust and fast video-processing algorithm, so they can be recognized and tracked in real time. We describe an implementation of the technology, then report two new, flexible music performance applications that demonstrate and validate it

Multisensor-based human detection and tracking for mobile service robots

The one of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In the present paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based legs detection using the on-board LRF. The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to be very discriminative also in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera and the information is fused to the legs position using a sequential implementation of Unscented Kalman Filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms. Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments