Simultaneous 3D mapping and localization from segmented range views by similarity optimization

Ein neuer Ansatz wurde für mobile Roboter zur gleichzeitigen 3D (Drei-Dimensionaler) Kartierung und Lokalisierung vorgestellt. Die Grundlage bilden attributierte Flächenmodelle, die z.B. von segmentierten Laserscanner-Tiefenbildern stammen. Zur Optimierung der Gesamtähnlichkeit zwischen Flächenmodellen unter Zeitbedingungen werden mehrere Verfahren (Beschränkte Baumsuche, Iterative Verfeinerung, Evolutionäralgorithmus) kombiniert. Es wird speziell anhand der Ähnlichkeitsmaße gezeigt, wie das Wissen über die Lage stufenweise generiert und verwendet wird. Erste Messungen an realen segmentierten Tiefenbildfolgen zeigen, dass das Verfahren unbekannte übelappung, Verdeckung und Segmentierungsfehler toleriert sowie Echtzeitpotenzial besitzt.An increasing number of service robots do not only operate in a three-dimensional world, but truly require 3D models of their work space. We propose a new approach for the simultaneous 3D mapping and localization problem from multiple segmented range views. Attributed surface graphs provide a compact representation which is at hand for symbolic action planning while being extended by new sensor data. To achieve real-time operation, the similarity between surface models is maximized on three cooperative and competitive layers: bounded tree search with landmark ordering on the bottom, iterative refinement of surface assignment and pose at the middle layer, and an evolutionary algorithm on top. Different degrees of knowledge about relative location are generated and used, by plugging in different measures of surface and relation similarity. Reconstruction results from real range image sequences show that occlusion, unknown overlap and segmentation errors are tolerated

Boolean Negotiation Games

We propose a new strategic model of negotiation, called Boolean negotiation games. Our model is inspired by Boolean games and the alternating offers model of bargaining. It offers a computationally grounded model for studying properties of negotiation protocols in a qualitative setting. Boolean negotiation games can yield agreements that are more beneficial than stable solutions (Nash equilibria) of the underlying Boolean game.</p

Classifying Attention Types with Thermal Imaging and Eye Tracking

Despite the importance of attention in user performance, current methods for attention classification do not allow to discriminate between different attention types. We propose a novel method that combines thermal imaging and eye tracking to unobtrusively classify four types of attention: sustained, alternating, selective, and divided. We collected a data set in which we stimulate these four attention types in a user study (N = 22) using combinations of audio and visual stimuli while measuring users' facial temperature and eye movement. Using a Logistic Regression on features extracted from both sensing technologies, we can classify the four attention types with high AUC scores up to 75.7% for the user independent-condition independent, 87% for the user-independent-condition dependent, and 77.4% for the user-dependent prediction. Our findings not only demonstrate the potential of thermal imaging and eye tracking for unobtrusive classification of different attention types but also pave the way for novel applications for attentive user interfaces and attention-aware computing