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In this paper, a new method for deformable 3D shape registration is proposed. The algorithm computes shape transitions based on local similarity transforms which allows to model not only as‐rigid‐as‐possible deformations but also local and global scale. We formulate an ordinary differential equation (ODE) which describes the transition of a source shape towards a target shape. We assume that both...
This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining attractor dynamics in order to generate smooth...
We present a generalization of the Koenderink-van Doorn (KvD) algorithm that allows robust monocular localization with large motion between the camera frames for a wide range of optical systems including omnidirectional systems and standard perspective cameras. The KvD algorithm estimates simultaneously ego-motion parameters, i.e. rotation, translation, and object distances in an iterative way. However...
In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary...
Accurate online localization is crucial for mobile robotics. In this paper, we describe a real-time image-based localization technique, which is based on a single calibrated camera. This can be supported by a second camera to improve accuracy and to provide the correct translational scale. Our goal is a robust and unbiased pose estimation in highly dynamic scenes on resource-limited systems. The presented...
One important feature of a cognitive system is to perceive and understand its environment and to adapt its actions to changes and unforeseen situations. In this paper, we propose a scheme for visual surprise detection in cognitive mobile robots. With the robot's observation and a set of reference images previously acquired near its current viewpoint, a pixel-wise surprise trigger is computed using...
We propose a hierarchical data segmentation method from a 3D high-definition LIDAR laser scanner for cognitive scene analysis in context of outdoor vehicles. The proposed system abstracts the raw information from a parallel laser system (velodyne system). It extracts essential information about drivable road segments in the vicinity of the vehicle and clusters the surrounding scene into point clouds...
The term scaffolding, with respect to human education, was first coined in the 1970ies, although the basic concept originates back to the 1930ies. The main idea is to formalize the superior knowledge of a teacher in a certain way to generate support for a trainee. In practice, this concept can be implemented as concrete as a cloze, which assists pupils in learning a foreign language, or it might be...
We have developed an experimental system for minimally invasive surgery providing force feedback and automation of recurring task. The system consists of four robotic arms, which can be equipped with either minimally invasive instruments or a stereo camera. The master console provides a stereo view of the field of operation and two input devices can feed back forces to the user. We have utilized this...
For the 3D reconstruction inside historic buildings, we need a marker-free automatic registration approach to align different views together, because GPS does not work indoors and markers are not allowed to paste on the walls. This paper presents an automatic matching process, which employs a novel algorithm, Dynamic Matching Tree technique, for a fast and stable coarse-matching to achieve the automatic...
With the rapid development of information and communication technology and widely spreading of internet, digital landscape becomes a high topic recently. This paper presents a landscape modeling- and visualizationssystem. The first part of this paper focuses on the real time 3D-model- lingsprocess out of large point-clouds. Diverse experiments have been done on the reconstruction of various famous...
This paper presents a fully automatic 3D-modelings-process of the landscape data obtained by the High Resolution Stereo Camera (HRSC) assembled on a airplane. The input of this 3D-modellingsprocess is the huge 2.5D point-clouds resulted from the photogrammetric preprocessing and the output is a group of simplified colored meshes. The 3D-modelingsprocess consists of six steps: tilling with overlap,...
Teleoperated robot-assisted surgical systems provide surgeons with improved precision, dexterity, and visualization over traditional minimally invasive surgery. The addition of haptic (force and/or tactile) feedback has been proposed as a way to further enhance the performance of these systems. However, due to limitations in sensing and control technologies, implementing direct haptic feedback to...
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