m12-DR 2.1.1: Basic vision-based situation awareness capabilities

This report summarizes research on WP2 – Visuo-conceptual modeling for situation awareness, during the first 12 months. Work on this package was mainly focused on the implementation of computer vision-based modules. The modules allow the robot to perceive the surrounding world. In addition to that, we were working on the connection between vision and conceptual modeling, vision and planning, and vision and the Graphical User Interface (GUI) in which the detected objects are presented to the human operator. The core of the vision system is implemented in C++ and it has been inte- grated by using the Robotic Operating System (ROS) middleware. Vision components mainly use the data captured by an omni-directional camera, a laser scanner and an odometry sensor.

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