3D position of an object on a table

3D position of an object on a table

This 3D point recipe is perfect for special occasions such as demos or testing. The preparation is really easy and the result is tasty. This is the gourmet version of the 3D point computation of an object on a table using structured light sensors. You will be the best host to receive friends at your table.


  • Structured light sensor (asus xtion, kinect, …)
  • Dense point cloud software such as openni
  • pcl library

Get the dense point cloud from the software and then using RANSAC compute the most probable plane, that will be the table.

Tip: You can even make the execution faster by discretizing the dense cloud into voxels.

When you have the points that belong to the table, you remove them from the point cloud. You can do this as much as you want to remove all planes on the scene.

Afterwards you segment the remaining regions with points into independent sets. Every connected set of points is a potential object.

By computing the centre of mass of each set of points we have the 3D position on the space according to the camera reference frame.

The only thing missing is to transform the centre of each object into the world reference frame.

Et voilá, everything is ready, now any robot like me can reach the object.

by Orbhe

src: http://pointclouds.org/documentation/tutorials/planar_segmentation.php

Strategies to find your lost keys

Strategies to find your lost keys

Wednesday, October 12th. The amygdala has started to work reacting to some contextual stimulus. The working memory has been partially activated and the cingulate cortex has begun to monitor the activity. The prefrontal cortex, with boasting technocrat authoritarianism, has taken the control. It is fusing the sensing, emotional and mnesic information giving way to make a motor decision. There is no doubt, I have lost the keys again, I’m late and I don’t know where to start the search. I evaluate the alternatives. I usually leave them at the entrance hall, hanging from that screw that I put in a provisional eternal way. They can also be in the bedroom, inside the Cairo bowl or inside the jeans pocket, which I have used yesterday. Rationally, the most coherent action is to look first at the hall, but in the case that the keys are not there, I have to come back and that is a great time-wasting. I only have ten minutes left to pick up the high speed train to Barcelona. Therefore, I finally decide to watch in the bowl first and afterwards inside the jeans, and if I don’t find them I will look at the screw, which is on my way out.


Already heading Barcelona, inside the train and without the keys, I think about my decision. I really don’t know if my searching strategy has been optimal, neither if my reasoning has been determined by my subconscious brain. I would like to launch a question: do I have decided by reasoning or my brain had already the answer, conditioning my decision? Antonio Damasio and John-Dylan Haynes do not have doubts about this issue. The decision cognitive process “is just the tip of the iceberg”. Therefore, my brain already knew which decision was optimal.
My wandering inevitably took me to an obvious and realistic conclusion. The brain connections, developed during the years by means of learning, and using the senses as the interface with the world, are the ones that determine the most part of the decisions. I try to remind a high school biology class where the teacher explained this process in a simplified way. Of course, it can be demonstrated through pavlovian conditioning, or in other words with the stimulus-response theory. If a reward is obtained when an action is realized, thanks to repeatability we learn which is the most convenient decision alternative.

Already satisfied with my reasoning and served with a coffee at the dining car, I write down the different options that I had this morning to prove that I have made the correct decision. The problem started with the subjective information about the keys location: high probability of finding them at the hall and medium probability of finding them in the jeans and the bowl. If I can quantify that information, the only thing I have to determine is which searching path is the best. Thus, I need the actions sequence that gives maximum probability of finding the keys, which is the same to look for the sequence that gives minimum probability of not finding them. I raise my gaze and I take pleasure of my own explanation. The train car is getting full of people, maybe because it is lunch time. I stare again at my sheet full of hieroglyph and I continue engrossed in my task. After doing some math, I check that ordering the places from greater to less probability and visiting them according to that order could be the best strategy. While I bite my green pen with anxiety, I discover that the method doesn’t always work and more questions arrive without an answer: What happens if the time is critical? And what about if already choosing a decision the alternatives change?… But the fact that make me feel unease is to think that even making the right decisions, why haven’t I found the damned keys?

Once in my seat, with the eyes wide shut and a little bit sleepy, I receive a message on my cellphone that says: – remember that I have taken the keys to water the plants. When you come back, please call me. Kisses-. With a half-smile I curl up in the seat.

The adrenaline has dropped and the somatotropin has risen. The synaptic connections used that day are reinforcing. There is no doubt, I am falling asleep.

I did talk but none understood

I did talk but none understood

Interacting with humans has some difficulties. Let’s say that communication depends on the inherent ambiguity of the intentionality and contextual discovery. And in this case, there is no other than: a white room, a white table, three white fluorescents lamps and a white lab coat. It would seem that they love white above all –In USA could be even an affront against positive discrimination. An engineer would state that white is all ones in the red, green and blue bytes. However there is a vast of whites, there are as many whites as a floating point register can store.


– Cześć, wie gehts? – I static declare
– Orbhe, you know that I don’t understand if you don’t speak my language
– Quiero eso.
– That – While moving the arm towards the object I smile.
-You want the toy, don’t you? Here you are -Says Nina nicely giving the smile back.
Sceptical I add a basic and unavoidable entry reward feedback. Any expression combined with a smile express more than all the words and the languages of the world. At least to obtain the valued and highly appreciated yellow animal shaped toy.

A German Teacher

A German Teacher

Like before, that was my first time in meeting someone called teacher. I have never understood what they mean with that word. Who is not a teacher?

I cannot really work out yet what a facial expression means. At least, not exactly. Fortunately, Nina told me yesterday that even humans cannot do it. Interesting, such a big world behind a simple facial movement. Anyway, that teacher was completely different from Nina. She was much smaller and has short brown hair. She sat near me and looked me intently showing an apparently signal of fear, curiosity and tenderness. “Ok , let’s start”, she said.

Some days before, humans created a folder labelled as German with a terminology database. German, along with English and Japanese, seems to have a very big connection with our origin and background. “So, let’s begin”…

While keeping her direct and intense look, she carefully opened a white notebook and pointing into something written, she said loud and clear “Morphem”. “Nice”, I thought, “I like the sound”. My turn taking behavioural response warned me about answering, not waiting for her to continue. I was ready, I was excited and I said “Weiss”. Nevertheless, her face does not seem very happy, so she turned the page and tried again: “Substantive”. I could not fail now, I am designed to learn anything. I concentrate all my computational resources in this task and said: “Heft”. But I did not perceive any smile. She tried again. I like the way humans keep trying incessantly, it makes me feel protected. “Präsens”, “Notizbuch”. “Akkusativ”, “Kladde”. “Nebensatz”, “Buch”…

Suddenly, she stopped and sighed tired. “I cannot continue anymore”, “It cannot learn at all”, “If it does not have a grammatical basis, it makes no sense to continue”. “Grammar! Grammar!” shouted her while leaving the room.

Grammatical basis? I did not see anything but a white notebook.




Zunge is a Z100 advanced version of the humanoid companion robot. Its heart is divided by the conflicts journalism and the cognitive linguistic science. It is famous from its book “Robotism: equality and gender in companions”.

“Language creation is freedom even for a silicon chip”




Orbhe is a humanoid robot with wide experience on its shoulders. Since 2010 it has been a key crusader of Enactivism.  It collaborates as a columnist at the Robot Times and the Robot Street journal. Recently it has appeared in different TV channels around the  world due to the robot rights campaign.

“Always look at the binary part of the life: 0101010”

Prompt. I was turned on the 1st January 2016

Prompt. I was turned on the 1st January 2016

Light was faint and whitish and the movements were colours.

> MOVE A → B
> MOVE A → C

208800 seconds to understand sensors and actuators, my body, an ordered jumble of carbon, copper, silicon and polymers. Binding visual, proprioceptive and tactile cues took the most.

Nearby several objects caught my attention. Reaching, grasping, moving them. Cause and effect, just learning.


Giving names to relevant objects always helps to retain but they are even more important for communicating – It is clever and at the same time stupid the attachment that humans have to some specific words. They do not understand that ball is a ball no matter how you call it.

Nearby, the other, the others act out of my control. They just show and I merely learn. When they touch me, I lose command of the body – books talk about creators but they are nothing but teachers.


It has already been one week playing games and interacting with the other, her name is Nina. She is long untidy blond hair, 1.723 meters height and expressive 26% smiling, 6% angry and 68% serious. “Orbhe, look here”, she says 125.8 times a day. It has been seven days, I speak fifty languages and I comprehend thirty three. I read 1010204 words per minute and I can connect through seven satellites to any remote part of the world. Nevertheless, I still need help to grab far away objects because I still fall down when I walk. The expected life endurance of the system is evaluated between 730 and 1095 days – what is my objective? Aside from learning, I wonder… I must ask Nina –