On Image Analysis by the Methods of Moments
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Machine Learning
Improved Boosting Algorithms Using Confidence-rated Predictions
Machine Learning - The Eleventh Annual Conference on computational Learning Theory
Component Software: Beyond Object-Oriented Programming
Component Software: Beyond Object-Oriented Programming
Gesture recognition using the Perseus architecture
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Comprehensive Database for Facial Expression Analysis
FG '00 Proceedings of the Fourth IEEE International Conference on Automatic Face and Gesture Recognition 2000
The description logic handbook: theory, implementation, and applications
The description logic handbook: theory, implementation, and applications
An introduction to variable and feature selection
The Journal of Machine Learning Research
Automatic extraction of head and face boundaries and facial features
Information Sciences—Informatics and Computer Science: An International Journal - Special issue: Informatics and computer science intelligent systems applications
A New Approach to Object-Oriented Middleware
IEEE Internet Computing
Automated Planning: Theory & Practice
Automated Planning: Theory & Practice
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Arm-Pointing Gesture Interface Using Surrounded Stereo Cameras System
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 4 - Volume 04
Recognizing Facial Expression: Machine Learning and Application to Spontaneous Behavior
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Creating Efficient Codebooks for Visual Recognition
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Object count/area graphs for the evaluation of object detection and segmentation algorithms
International Journal on Document Analysis and Recognition
Pellet: A practical OWL-DL reasoner
Web Semantics: Science, Services and Agents on the World Wide Web
Towards optimal bag-of-features for object categorization and semantic video retrieval
Proceedings of the 6th ACM international conference on Image and video retrieval
Visual recognition of pointing gestures for human-robot interaction
Image and Vision Computing
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
The 2005 DARPA Grand Challenge: The Great Robot Race
The 2005 DARPA Grand Challenge: The Great Robot Race
Journal of Artificial Intelligence Research
Three-dimensional mapping with time-of-flight cameras
Journal of Field Robotics - Three-Dimensional Mapping, Part 2
HERB: a home exploring robotic butler
Autonomous Robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic
Towards performing everyday manipulation activities
Robotics and Autonomous Systems
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Real-time pointing gesture recognition for an immersive environment
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Sampling strategies for bag-of-features image classification
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Caesar: an intelligent domestic service robot
Intelligent Service Robotics
Lessons learned from robotic vacuum cleaners entering the home ecosystem
Robotics and Autonomous Systems
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In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.