Dominik Joho

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In recent years, there has been an increasing interest within the robotics community in investigating whether Radio Frequency Identification (RFID) technology can be utilized to solve localization and mapping problems in the context of mobile robots. We present a novel sensor model which can be utilized for localizing RFID tags and for tracking a mobile(More)
The purpose of our research is to develop a humanoid museum guide robot that performs intuitive, multimodal interaction with multiple persons. In this paper, we present a robotic system that makes use of visual perception, sound source localization, and speech recognition to detect, track, and involve multiple persons into interaction. Depending on the(More)
We consider the problem of efficiently finding an object with a mobile robot in an initially unknown, structured environment. The overall goal is to allow the robot to improve upon a standard exploration technique by utilizing background knowledge from previously seen, similar environments. We present two conceptually different approaches. Whereas the first(More)
An essential capability for a robot designed to interact with humans is to show attention to the people in its surroundings. To enable a robot to involve multiple persons into interaction requires the maintenance of an accurate belief about the people in the environment. In this paper, we use a probabilistic technique to update the knowledge of the robot(More)
We present an algorithm for estimating the fundamental frequency in speech signals. Our approach incorporates models of voiced speech on three levels. First, we estimate the pitch for each time frame based on its harmonic structure using non-negative matrix factorization. The second level utilizes temporal pitch continuity to extract partial pitch contours.(More)
Whenever mobile robots are used in real world applications, the ability to learn an accurate model of the environment and to localize itself based on such a model are important prerequisites for reliable operation. Whereas these problems have been successfully solved in the past for most indoor tasks, in which the robot is assumed to operate on a flat(More)
Wheeled tour guide robots have already been deployed in various museums or fairs worldwide. A key requirement for successful tour guide robots is to interact with people and to entertain them. Most of the previous tour guide robots, however, focused more on the involved navigation task than on natural interaction with humans. Humanoid robots, on the other(More)
Autonomous exploration is a frequently addressed problem in the robotics community. This paper presents an approach to mobile robot exploration that takes into account that the robot acts in the three-dimensional space. Our approach can build compact three-dimensional models autonomously and is able to deal with negative obstacles such as abysms. It applies(More)
Attracting people and involving multiple persons into an interaction is an essential capability for a humanoid robot. A prerequisite for such a behavior is that the robot is able to sense people in its vicinity and to know where they are located. In this paper, we propose an approach that maintains a probabilistic belief about people in the surroundings of(More)