Marcus Kleinehagenbrock

Learn More
In order to enable the widespread use of robots in home and office environments, systems with natural interaction capabilities have to be developed. A prerequisite for natural interaction is the robot's ability to automatically recognize when and how long a person's attention is directed towards it for communication. As in open environments several persons(More)
In the recent past, service robots that are able to interact with humans in a natural way have become increasingly popular. A special kind of service robots that are designed for personal use at home are the so-called robot companions. They are expected to communicate with non-expert users in natural and intuitive way. For such natural interactions with(More)
The ability to robustly track a person is an important prerequisite for human-robot-interaction. This paper presents a hybrid approach for integrating vision and laser range data to track a human. The legs of a person can be extracted from laser range data while skin-colored faces are detectable in camera images showing the upper body part of a person. As(More)
— Several Advanced Driver Assistance Systems realizing elementary perception and analysis tasks have been introduced to market in recent years. For example, collision mitigation brake systems detect the distance and relative velocity of vehicles in front to assess the risk of a rear-end collision in a clearly defined following situation. In order to go(More)
The visual tracking of human faces is a basic function-ality needed for human-machine interfaces. This paper describes an approach that explores the combined use of adaptive skin color segmentation and face detection for improved face tracking on a mobile robot. To cope with inho-mogeneous lighting within a single image the color of each tracked image(More)
Mobile service robots are recently gaining increased attention from industry as they are envisaged as a future market. Such robots need natural interaction capabilities to allow unexperienced users to make use of these robots in home and office environments. In order to enable the interaction between humans and a robot, the detection and tracking of persons(More)
— The development of robot companions with natural human-robot interaction (HRI) capabilities is a challenging task as it requires incorporating various functionalities. Consequently, a flexible infrastructure for controlling module operation and data exchange between modules is proposed, taking into account insights from software system integration. This(More)