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Chapter and Conference Paper
6DoF Pose Estimation for Industrial Manipulation Based on Synthetic Data
We present a perception system for mobile manipulation tasks. The primary design goal of the proposed system is to minimize human interaction during system setup which is achieved by several means, such as au...
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Chapter and Conference Paper
Simultaneous Calibration and Map**
We present evaluation experiments of a hand-eye calibration and camera-camera calibration method, which is applicable to cases where classical calibration methods fail. As described in our earlier works, the c...
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Article
Improving object orientation estimates by considering multiple viewpoints
This article describes a probabilistic approach for improving the accuracy of general object pose estimation algorithms. We propose a histogram filter variant that uses the exploration capabilities of robots, ...
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Chapter
RoboSherlock: Unstructured Information Processing Framework for Robotic Perception
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. Robotic vision must provide task relevant information about the ...
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Chapter
Interactive Segmentation of Textured and Textureless Objects
This article describes interactive object segmentation for autonomous service robots acting in human living environments. The proposed system allows a robot to effectively segment textured and textureless obje...
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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...