Datasheet

8. FROG Integration Meetings
The FROG robot has been used in the two integration/data collection meetings held in the Royal
Alcázar in Seville and in the Lisbon Zoo.
The integration meeting in the Royal Alcázar in Seville was the first opportunity for all the partners to
be in touch with the new platform. Each of the partners was able to integrate their own components on
the robot structure.
The team from UPO was able to connect to the platform hardware and navigate safely inside the
crowded Royal Alcázar. UPO used a laser map built using a Pioneer based robot with two lasers and
exported the map to the new platform. Point-to-Point navigation with obstacle avoidance was
performed. The UPO computer was powered from one 12V/17Ah battery.
The team from ICL was able to collect data using one Dalsa camera and one Kinect mounted in the
robot structure. They were able to get images and process them with the platform standing still and
while moving. ICL uses a laptop computer that is powered by the robot 600W DC/AC inverter.
The team from UVA was able to collect and process data using the stereo mounted Dalsa cameras.
The tracking system was used with the platform standing still and while moving. UVA used a mini-ITX
computer that is integrated on the structure. This computer is powered by a 12V/17Ah Battery.
The team from YD was able to test the interaction components, for that it uses the monitor installed,
the laser pointer arm and the video projector. YD uses the interaction computer that is integrated on
the structure. This computer is powered by a 12V/17Ah battery.
The integration meeting held in the Lisbon Zoo was used to continue with integration, to test some
newly introduced features and also to perform data collection in a completely different environment.
The team from UPO was able to collect data taking readings from the lasers, encoders and also from
the cameras. Some fiducial marks were placed in the zoo to be used in the localization. The data will
be processed and a map will be created.
The ICL team continued with the data acquisition and facial analysis processing in the zoo.
UVA's stereo set-up for people tracking was tested.
The team from UT and YD performed some experiments using the laser arm and the projector.
In both cases IDM performed all the hardware integration and power connections.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 45