Research Projects (2001)
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- 3D Computer Vision 3D reconstruction Aerial Vision Augmented Reality Augmented Video Best Paper Award Biometrics Caleydo Computer Graphics Computer Vision Convex Optimization Coordinate transformations detection face Fingerprint Georeferencing GPU GUI HOG Human Computer Interaction Image Labelling Industrial Applications Information Visualization integral imaging Interaction Interaction Design Machine Learning Medical computer vision Medical Visualization Mixed Reality Mobile computing Mobile phone Model Multi-Display Environments Multiple Perspectives Object detection Object recognition Object reconstruction Object Tracking On-Line Learning Robotics Segmentation Shape analysis shape from focus SLAM Software Projects Structure from Motion Surveillance SVM Symmetry Tracking Fusion Tracking, Action Recognition User Interfaces Variational Methods Virtual reality and augmented reality Visual Tracking Visualization
Visual Pose Determination by a Robot in six degrees of freedom
We propose to develop a robotic system for the exact pose estimation of rigid objects in six degrees of freedom (DoF). Our approach is based on the following scenario: Given be a set of unordered objects in arbitrary position which come from a small variety (<10) of different types as may happen on a conveyor belt during an assembly process. We assume the objects to be mostly un-occluded and their CAD-model given. Our goal is to pick with a robot a specific object in such a way that it has a defined position. The robot is equipped with multiple black and white cameras (e.g., 2-3). In order to achieve maximum generality we do not intend to use range information nor calculate a 3D-representation from stereo images. This task requires a solution for the following sub-problems: Recognition and initial pose estimation, which will be approached using robust appearance-based recognition methods; Pose refinement will be handled by model-based methods; Movement planning to enhance the accuracy of the pose estimation.