Rumba with Roomba

We propose a novel and entertaining room cleaning system using Roomba. In this system, a Roomba is controlled by its user through a ballroom dance, Rumba. The user's motion is captured by Microsoft's Kinect, analyzed by OpenNI, and recognized as a dance partner's motion which leads the Roomba's motion, as a lady's motion. The position and the posture of the Roomba is measured by ARToolkit using a marker attached on the Roomba.