39 Result(s)
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Chapter and Conference Paper
homer@UniKoblenz: Winning Team of the RoboCup Virtual @Home Open Platform League 2021
In this paper we present our approaches for solving this year’s virtual RoboCup @Home tasks with special focus on object detection and manipulation in the simulation environment Gazebo, which lead to our succe...
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Chapter and Conference Paper
homer@UniKoblenz: Winning Team of the RoboCup@Home Open Platform League 2018
We won this year’s RoboCup@Home track in the Open Platform League in Montreal (Canada). The approaches as used for the competition are briefly described in this paper
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Chapter and Conference Paper
Gesture Recognition in RGB Videos Using Human Body Keypoints and Dynamic Time War**
Gesture recognition opens up new ways for humans to intuitively interact with machines. Especially for service robots, gestures can be a valuable addition to the means of communication to, for example, draw t...
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Chapter and Conference Paper
Adaptive Learning Methods for Autonomous Mobile Manipulation in RoboCup@Home
Team homer@UniKoblenz has become an integral part of the RoboCup@Home community. As such we would like to share our experience gained during the competitions with new teams. In this paper we describe our appr...
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Chapter and Conference Paper
From Commands to Goal-Based Dialogs: A Roadmap to Achieve Natural Language Interaction in RoboCup@Home
On the one hand, speech is a key aspect to people’s communication. On the other, it is widely acknowledged that language proficiency is related to intelligence
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Chapter and Conference Paper
MC2SLAM: Real-Time Inertial Lidar Odometry Using Two-Scan Motion Compensation
We propose a real-time, low-drift laser odometry approach that tightly integrates sequentially measured 3D multi-beam LIDAR data with inertial measurements. The laser measurements are motion-compensated using ...
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Chapter and Conference Paper
homer@UniKoblenz: Winning Team of the RoboCup@Home Open Platform League 2017
In this paper we present the approaches that we used for this year’s RoboCup@Home participation in the Open Platform League. A special focus was put on team collaboration by handing over objects between two ro...
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Chapter and Conference Paper
Automatic Cochlear Length and Volume Size Estimation
Surgical robotics tools using real-time computer vision algorithms can detect, extract and analyze specific organs during surgery. In order to achieve successful cochlear implant surgical operation using such ...
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Chapter and Conference Paper
Robust Features for Snapshot Hyperspectral Terrain-Classification
Hyperspectral imaging increases the amount of information incorporated per pixel in comparison to normal RGB color cameras. Conventional spectral cameras as used in satellite imaging use spatial or spectral sc...
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Chapter and Conference Paper
Affordance Origami: Unfolding Agent Models for Hierarchical Affordance Prediction
Object affordances have moved into the focus of researchers in computer vision and have been shown to augment the performance of object recognition approaches. In this work we address the problem of visual aff...
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Chapter and Conference Paper
Camera-Agnostic Monocular SLAM and Semi-dense 3D Reconstruction
This paper discusses localisation and map** techniques based on a single camera. After introducing the given problem, which is known as monocular SLAM, a new camera agnostic monocular SLAM system (CAM-SLAM) is ...
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Chapter
A ROS-Based System for an Autonomous Service Robot
The Active Vision Group (AGAS) has gained plenty of experience in robotics over the past years. This contribution focuses on the area of service robotics. We present several important components that are cruci...
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Chapter and Conference Paper
3D Pose Detection for Articulated Vehicles
The knowledge about relative poses within a tractor/trailer is a vital prerequisite for kinematic modeling and trajectory estimation. In case of autonomous vehicles or systems, for example, the monitoring ...
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Chapter and Conference Paper
Optical Truck Tracking for Autonomous Platooning
Platooning applications require precise knowledge about position and orientation (pose) of the leading vehicle. We present an optical solution for a robust pose estimation using artificial markers and a camera...
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Chapter and Conference Paper
Detecting Fine-Grained Affordances with an Anthropomorphic Agent Model
In this paper we propose an approach to distinguish affordances on a fine-grained scale. We define an anthropomorphic agent model and parameterized affordance models. The agent model is transformed according t...
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Chapter and Conference Paper
Fourier Features For Person Detection in Depth Data
A robust and reliable person detection is crucial for many applications. In the domain of service robots that we focus on, knowing the location of a person is an essential requirement for any meaningful human-...
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Chapter and Conference Paper
Pose Estimation and Shape Retrieval with Hough Voting in a Continuous Voting Space
In this paper we present a method for 3D shape classification and pose estimation. Our approach is related to the recently popular adaptations of Implicit Shape Models to 3D data, but differs in some key aspec...
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Chapter and Conference Paper
Team Homer@UniKoblenz — Approaches and Contributions to the RoboCup@Home Competition
In this paper we present the approaches and contributions of team homer@UniKoblenz that were developed for and applied during the RoboCup@Home competitions. In particular, we highlight the different abstractio...
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Chapter and Conference Paper
Extended Investigations on Skeleton Graph Matching for Object Recognition
Shape similarity estimation of objects is a key component in many computer vision systems. In order to compare two shapes, salient features of a query and target shape are selected and compared with each other...
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Chapter and Conference Paper
Texture-Based Text Detection in Digital Images with Wavelet Features and Support Vector Machines
In this paper we propose to combine region-based and texture-based approaches for text detection in digital images. Our solution is based on a cascade filtering of image regions. First, we apply heuristic filt...
