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Chapter
Towards Reliable Gras** and Manipulation in Household Environments
We present a complete software architecture for reliable gras** of household objects. Our work combines aspects such as scene interpretation from 3D range data, grasp planning, motion planning, and grasp fai...
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Book
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Chapter
3D Map Representations
The most primitive data representation unit in a three-dimensional Euclidean space is the 3D point itself, p i . This chapter gives a basic overview on acquisiti...
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Chapter
Identifying and Opening Doors
An important challenge for autonomous personal robots is to be able to enter a human living environment and function in it, that is, find ways of navigating and interacting with the world in an effective manne...
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Chapter
JediBot – Experiments in Human-Robot Sword-Fighting
Real-world sword-fighting between human opponents requires extreme agility, fast reaction time, and dynamic perception capabilities. In this paper, we present experimental results achieved with a 3D vision sys...
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Chapter
Clustering and Segmentation
Storing and processing large point cloud datasets represents one of the main bottlenecks of a 3D perception system. Though algorithms that can process individual data frames with low computational resources ca...
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Chapter
Conclusion
As autonomous personal robotics systems come to age, they need to find ways of functioning in human living environments, that is, navigating and interacting with the surrounding world in an effective manner. T...
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Chapter
Introduction
The population in Europe and many other countries is aging — probably causing the share of people aged 65 years or over to double within the next 40 years. As life expectancy increases, so does the chance of p...
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Chapter
Map** System Architectures
To use a well known metaphor, designing the architecture of a 3D perception system can be anything from a walk in the park to a day of fishing. This chapter takes on the challenge of proposing a comprehensive ...
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Chapter
Table Cleaning in Dynamic Environments
Personal robots are coming to age, enabling a multitude of problem scenarios that were unsolvable until recently, to be tackled. One of the remaining challenges however is to design systems that can function i...
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Chapter
From Partial to Complete Models
This chapter presents mechanisms for the integration of partial datasets acquired from different views into a consistent global model. In particular, we will address the problems of: i) point cloud registration, ...
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Chapter
Parametric Shape Model Fitting
This chapter tackles the problem of scene interpretation, including object reconstruction for everyday manipulation activities in domestic human living environments, in particular kitchens, out of point cloud ...
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Chapter
3D Point Feature Representations
In their native representation, points as defined in the concept of 3D map** systems are simply represented using their Cartesian coordinates x, y, z, with respect to a given origin. Assuming that the origin of...
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Chapter
Surface and Object Class Learning
Segmenting and interpreting the surrounding environment that a personal robot operates in from sensed 3D data is an important research topic. Besides recognizing a certain location on the map for localization ...
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Chapter
Real-Time Semantic Maps from Stereo
Creating rich, meaningful map representations of the world from stereo data poses two interesting questions: i) given that stereo depth data is traditionally not as precise as laser measurements, what is the l...
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Chapter
Static Scene Interpretation
This chapter reports on experiences regarding the acquisition of hybrid Semantic 3D Object Maps for indoor household environments, in particular kitchens, out of sensed 3D point cloud data. The proposed approa...
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Chapter and Conference Paper
OUR-CVFH – Oriented, Unique and Repeatable Clustered Viewpoint Feature Histogram for Object Recognition and 6DOF Pose Estimation
We propose a novel method to estimate a unique and repeatable reference frame in the context of 3D object recognition from a single viewpoint based on global descriptors. We show that the ability of defining a...
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Chapter and Conference Paper
Real-Time Plane Segmentation Using RGB-D Cameras
Real-time 3D perception of the surrounding environment is a crucial precondition for the reliable and safe application of mobile service robots in domestic environments. Using a RGB-D camera, we present a syst...
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Chapter and Conference Paper
Reconstruction and Verification of 3D Object Models for Gras**
In this paper we present a method for approximating complete models of objects with 3D shape primitives, by exploiting common symmetries in objects of daily use. Our proposed approach reconstructs boxes and cy...
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Article
Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments
Environment models serve as important resources for an autonomous robot by providing it with the necessary task-relevant information about its habitat. Their use enables robots to perform their tasks more reli...
