Testbed

Leon@Home Testbed

Leon@Home testbed main purpose is to benchmark service robots functionalities and tasks in a realistic home environment. The testbed is made up by three parts: a mock-up apartment, a control zone with direct vision (glass wall) to the apartment, a small workshop and a larger development zone where researchers work.

Apartment

Leon@Home Testbed is located in the second floor of the Modulo de Investigación en Cibernética in the Universidad de León campus of Vegazana, León (Spain).

The apartment is a single bedroom mock-up home built in a 8m x 7m space. It is divided by 50cm high walls into a Kitchen, living room, bathroom and a bedroom. This is the

The Leon@Home Testbed furniture has been designed to test different robot abilities. For instance, kitchen cabinets have different types of handlers.

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Tracking System

We have available three different systems for tracking the robots:

1. [KIO RTL] ground-truth system based on Ultra Wideband (UWB) technology
2. [Pentalo 3D people tracker] based on RGB-D cameras (four cameras in the top corners of the apartment)
3. VICON tracking system (on demand)

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Robots

Permanent robotic residents of the Leon@Home Testbed are:

1. Orbi-One
2. Merlin