Perception-Action Loops with a Spatio-temporal Working Memory

This scenario demonstrates a closed perception-action loop with the spatio-temporal working memory system m³s on Nao. A standard face detection algorithm is used to find the directions of people around the robot. Due to the lack of a stereo-vision setup so far, a distance estimation is done based on the size of the bounding boxes of detected faces. The detected faces are then maintained in the memory as a basic representation of a person and the robot tries to follow persons that previously approached it, closing the perception-action loop. This demonstrator shows the integration of different system components using the memory architecture and verifies the applicability of features provided by the memory system.

A video showing the demonstrator in action is available in our YouTube channel.