R2D2 reloaded: Dynamic video projection on a mobile service robot

In this paper, we present a holistic approach to enable mobile robots using video projection in a situation aware and dynamic way. Therefore, we show how to autonomously detect wall segments that are suitable to be used as projection target in a dynamic environment. We derive several quality measures to score the wall segments found in the local environment and show how these scores can be used by a particle swarm optimization to find the best local projection position for the mobile robot. Furthermore, it is demonstrated how the presented approach can be used to display directions in an orientation training task for stroke patients while the robot is following them.