Gianni Vercelli

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This paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is(More)
The paper presents the preliminary implementation of eLaparo4D, an immersive training space designed for videolaparoscopic surgery. This is a low-cost training space which integrates haptic devices with realistic surgery tools and 3D rendering with physically deformable 3D CG models of the human internal organs. The main objective of the eLaparo4D first(More)
This paper deals with the automation of dextrous grasping in a partly known environment using a stereo vision system and a multiingered hand mounted on a robot arm. EEective grasping requires a combination of sensing and planning capabilities: sensing to construct a well-adapted model of the situation and to guide the execution of the task, and planning to(More)
This paper describes a n experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator i s detected via a microphone array based algorithm; localization information are passed t o a navigation module which sets up a navigation mission using(More)
In this paper we propose a diagrammatic framework, as a way of performing spatial reasoning about dynamic scenarios. Our proposal is based on intrinsically dynamic models, that act as some sort of mental simulation, a "mental movie" of the evolution of the represented world. This simulation is generated starting from some reference "pictures", or(More)