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Chapter and Conference Paper
Abstract: Determination of Unknown Biomechanical Parameters of a Screw-vertebra MBS Model
In this study, we show that parameters for which values are not known a priori can be determined with sufficient accuracy using a multibody simulation (MBS) model. We propose a sensitivity analysis method that...
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Chapter and Conference Paper
Abstract: Automatic Detection of Cervical Spine Ligaments Origin and Insertion Points
Creating patient-specific simulation models helps to make customised implant or treatment plans. To create such models, exact locations of the Origin and Insertion Points of the Ligaments (OIPL) are needed. Lo...
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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
Abstract: Automatic Estimation of Cochlear Duct Length and Volume Size
The exact cochlear length and size are required is an important factor of selecting the suitable cochlear implant. We present a fast cochlear length and volume size estimation method from clinical multi-modal ...
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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
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
Abstract: Automatic Image Registration for 3D Cochlea Medical Images
A Prior knowledge of the cochlea’s characteristics helps for selecting the suitable cohlear implants for different patients. Cochlea medical images provide such prior knowledge. Doctors use a manual procedure ...
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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
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
Hierarchical Multi-robot Coordination
The complexity and variety of household chores creates conflicting demands on the technical design of domestic robots. One solution for this problem is the coordination of several specialized robots based on t...
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Chapter and Conference Paper
Mixed 2D/3D Perception for Autonomous Robots in Unstructured Environments
Autonomous robots in real world applications have to deal with a complex 3D environment, but are often equipped with standard 2D laser range finders (LRF) only. By using the 2D LRF for both, the 2D localizatio...
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Chapter and Conference Paper
An Evaluation of Open Source SURF Implementations
SURF (Speeded Up Robust Features) is a detector and descriptor of local scale- and rotation-invariant image features. By using integral images for image convolutions it is faster to compute than other state-of...
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Chapter and Conference Paper
A Multi-stage Approach for 3D Teeth Segmentation from Dentition Surfaces
In this paper, we present a multi-stage approach for teeth segmentation from 3D dentition surfaces based on a 2D model-based contour retrieval algorithm. First, a 3D dentition model is loaded to the system and...
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Chapter and Conference Paper
Stable Map** Using a Hyper Particle Filter
Often Particle Filters are used to solve the SLAM (Simultaneous Localization and Map**) problem in robotics: The particles represent the possible poses of the robot, and their weight is determined by checkin...
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Chapter and Conference Paper
Edge Preserving Filters on Color Images
In this contribution we present experiments on color image enhancement for several different non-linear filters which originally were defined for gray-level images. We disturb sample images by different types ...
