We present an important aspect of our human-robot communication interface which is being developed in the context of our long-term research framework PERSES dealing with highly interactive mobile companion robots. Based on a multi-modal people detection and tracking system, we present a hierarchical neural architecture that estimates a target point at the floor indicated by a pointing pose, thus enabling a user to navigate a mobile robot to a specific target position in his local surroundings by means of pointing. In this context, we were especially interested in determining whether it is possible to accomplish such a target point estimator using only monocular images of low-cost cameras. The estimator has been implemented and experimentally investigated on our mobile robotic assistant HOROS. Although only monocular image data of relatively poor quality were utilized, the estimator accomplishes a good estimation performance, achieving an accuracy better than that of a human viewer on the same data. The achieved recognition results demonstrate that it is in fact possible to realize a user-independent pointing direction estimation using monocular images only, but further efforts are necessary to improve the robustness of this approach for everyday application.

In human-machine interaction, gestures play an important role as input modality for natural and intuitive interfaces. While the usage of sign languages or crafted command gestures typically requires special user training, the class of gestural action

Great potential for saving carbon emissions lies in modernizing European buildings. Multi-year modernization roadmaps can plan modernization measures in terms of time and are able to consider temporal interactions. Therefore, we have developed a mixed-integer program that determines modernization roadmaps. These roadmaps include changing the energy supply system, improving the envelope, and considering annually varying boundary conditions. High craftwork capacities are required to implement the necessary modernizations to meet climate goals. Unfortunately, studies showed that the current shortage of craftworkers will intensify in the next years. Other important limitations correspond to energy resources. Recent crises show that many energy systems need to handle these limitations. Therefore, we extended the mixed-integer program by a method to handle these limitations inside the roadmaps. By the use of data from 90 interviews with craftwork specialists about the time needed to realize modernization measures, the method is applied. The main purpose is to analyze how modernization strategies change under limited resources, especially in terms of craftwork capacities. Hence, the method is exemplified by a representative single-family dwelling. Within this use case, modernization roadmaps with different craftwork capacity levels were calculated. The results show that modernization roadmaps change comprehensively over these levels. Key findings are that costs and emissions rise with decreasing craftwork capacities. Furthermore, smaller storages and pv systems are implemented at low craftwork capacities. The electrification of the heat supply supported by medium insulation standards should also be implemented with limited craftwork capacities.