Proceedings Article10.1109/IROS.1996.569028
A hierarchical world model with sensor- and task-specific features
A. Hauck,N.O. Stoffler +1 more
- 04 Nov 1996
- Vol. 3, pp 1614-1621
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TL;DR: A hierarchically structured world model is presented that combines a general geometric object representation with sensor- and task-specific features and therefore can be used for various sensors and perception tasks.
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Abstract: The design of mobile robots which can cope with unexpected disturbances like obstacles or misplaced objects is an active field of research. Such an autonomous robot assesses the situation by comparing data from one or more sensors with an internal representation of its environment. In this paper we present a hierarchically structured world model that combines a general geometric object representation with sensor- and task-specific features and therefore can be used for various sensors and perception tasks. By predicting only those features that, first, can be detected by the sensor and, secondly, are relevant for the current perception task, sensor data interpretation gets faster and more robust. This is illustrated at an exemplary perception task concerning the video-based determination of the joint states of articulated objects.
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Citations
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Method for fast, robust, multi-dimensional pattern recognition
William M. Silver,E. John McGarry,Sanjay Nichani,Adam Wagman +3 more
- 31 Dec 2004
TL;DR: In this article, a method and system for probe-based pattern matching including an apparatus for synthetic training of a model of a pattern is presented, which consists of a sensor for obtaining an image of the pattern and a processor for receiving the image from the sensor and running a program.
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What can be learned from human reach-to-grasp movements for the design of robotic hand-eye systems?
A. Hauck,M. Sorg,Georg Färber,T. Schenk +3 more
- 10 May 1999
TL;DR: A control model is developed that unifies the two robotic strategies look-then-move and visual servoing, thereby compensating the problems that each strategy shows when used alone.
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Scene classification from dense disparity maps in indoor environments
Darius Burschka,Gregory D. Hager +1 more
- 11 Aug 2002
TL;DR: The presented system is capable of foreground-background separation classifying room structures and is used on the mobile system for target tracking, but can also be used for localization as described in this paper.
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Hierarchical recognition of articulated objects from single perspective views
A. Hauck,S. Lanser,C. Zierl +2 more
- 17 Jun 1997
TL;DR: This paper presents an approach to the recognition of articulated 3D objects in monocular video images that limits the search space for the actual correspondences between image and model features and copes with the problem of self-occlusion.
28
Localization in Indoor Environments Using a Panoramic Laser Range Finder
Tobias Einsele
- 01 Jan 2002
TL;DR: This work presents an approach that allows for self-localization in unmodified indoor environments even under the condition that no a-priori knowledge about the surroundings is available.
22
References
Computer graphics—principles and practice
T. Ertl
- 01 Aug 1997
TL;DR: These are the short notes for a two hour tutorial on principles and practice of computer graphics and scientific visualization and they cannot completely replace the contents of the tutorial transparencies and slides since restrictions in space and print quality do not permit the inclusion of figures and example images.
2.4K
The internal representation of solid shape with respect to vision
Jan J. Koenderink,A. J. Doorn +1 more
TL;DR: It is argued that the internal model of any object must take the form of a function, such that for any intended action the resulting reafference is predictable and relations with Gestalt theories of perception are discussed.
705
Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV
M. Buchberger,Klaus-Werner Jörg,E. von Puttkamer +2 more
- 02 May 1993
TL;DR: The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications, utilizes heterogeneous information obtained from a laser radar and a sonar sensor system to achieve a reliable and complete world model for real-time collision avoidance.
49
A dynamic 3D environmental model with real-time access functions for use in autonomous mobile robots
TL;DR: A framework for the prediction of expected sensor images on feature level, which is based on a-priori knowledge about the geometry of the environment, is presented, capable to serve all distance and image measuring sensors typically found on mobile robots in real time.
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