animated gif (0.1 MB) showing the evolution of the
individual model components during different iterations of the
EM. In this example a model for nine trajectories of three different motion
patterns has to be learned (avi-video, 0.1 MB).
animated gif (5.9 MB) for an experiment with two persons. Whereas
the upper image depicts the belief about the position of person
1 the lower image shows the belief about the position of
person 2. The circles are detected
features. The grey value of each circle represents the
similarity to the person corresponding to the HMM (the darker the
more likely). In the beginning the robot
was quite certain that persons 1 and 2 were in the room
containing resting place 3 (avi-video, 15.5 MB).
animated gif (3.2 MB) for an experiment with a moving robot.
Here the robot traveled along the
corridor and looked into one of the offices where it detected person
A. Whereas the robot was initially rather uncertain as to where person A was, the
probability of resting place 3 seriously increased after the
detection (avi-video, 8.3 MB).
Our mobile robot Albert moves into a doorway to let a person pass
Albert moves away from a doorway to let a person enter the
corresponding room (mpg-video).