M. Becker, E. Kefalea, E. Mael, C. v. d. Malsburg, M. Pagel, J. Triesch, J.C. Vorbruggen, and S. Zadel. GripSee: a robot for visually-guided grasping. Submitted to: ICRA'98. Home/Search Document Details and Download
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A Comparative Evaluation of Matching and Tracking.. - Peters, Zitova, von .. (1999) (Correct)
....in the text. Chapter 2 Description of the System 2. 1 Image Acquisition To acquire the views of the upper hemisphere of an object, we used an antropomorphic robot, which has a redundant manipulator arm with 7 degrees of freedom (DoF) kinematics similar to a human arm and a parallel jaw gripper [1]. The object was placed in the gripper of the robot, while the gripper itself was covered by a gray paper to get a homogeneous background in the images. So, the object only is visible in the images (see figure 2.1) Figure 2.1: Robot Scene. The robot arm has object Tom fixed in its gripper. The ....
....= 1 2 N # i=1 N # j=1j #=i W ij # S i ,S j with (2.1) W ij = max # 1 # # #I i I j # # # #, 0 # W (2. 2) The parameter # we use # = 100 in combination with the maximum function ensures that the di#erence in average intensity on the interval [0, #] is mapped to [0, 1]. To stress the Gestalt law of neighborhood [15] we restrict the interaction to spins with distances below 7.1 spins. In order to map low similarity to negative interaction and high similarity to positive one, we subtract the mean interaction W from all similarity values to obtain the used ....
M. Becker, E. Kefalea, E. Mael, C. v. d. Malsburg, M. Pagel, J. Triesch, J. C. Vorbruggen, and S. Zadel. GripSee: A Robot for Visually-Guided Grasping. In Proceedings of ICANN International Conference on Artificial Neural Networks, Skovde, Sweden, September 1998.
Robotic Gesture Recognition by Cue Combination - Triesch, von der Malsburg (1 citation) Self-citation (Triesch) (Correct)
....in a complex dynamic environment and demonstrating the dexterity of our robot. This application requires of course a number of other skills needed by the robot, e.g. recognition of shape and orientation of the object pointed to, grip planning and grip execution, which are discussed elsewhere [1, 2]. 3 Tracking of Head and Hands A prerequisite for the successful recognition of gestures is tracking the head and hands of the gesturing person. We combine motion, color and stereo cues to reach the robustness demanded by real world applications. Let us first consider a hand pointing to some ....
M. Becker, E. Kefalea, E. Mael, C. v.d. Malsburg, M. Pagel, J. Triesch, J. C. Vorbruggen, and S. Zadel. Gripsee: a robot for visually-guided grasping. Accepted for publication at: ICANN'98, International Conference on Artificial Neural Networks, 1998.
The GripSee Project: A Gesture-controlled Robot.. - Becker, Kefalea.. Self-citation (Becker Kefalea Mael Pagel Triesch Zadel) (Correct)
....measure for the quality of hand localization. Additional functionality, which is currently being worked on, includes the construction and incorporation of tactile sensors and the semi autonomous learning of new objects. More detailed information can be found on our website and in the articles [1, 2]. This work is funded by grants from the DFG (Graduiertenkolleg KOGNET) and the German Federal Minister for Education and Research (01 IN 504 E9) We thank Michael Potzsch, Michael Rinne, Bernd Fritzke, Herbert Jan en, Percy Dahm, Rainer Menzner, Thomas Bergener, and Carsten Bruckhoff for ....
M. Becker, E. Kefalea, E. Mael, C. v. d. Malsburg, M. Pagel, J. Triesch, J. Vorbruggen, and S. Zadel. GripSee: a robot for visually-guided grasping. In Proceedings of ICANN, Skovde, Sweden, 2-4 September, 1998, 1998. In press.
A Gesture Interface for Human-Robot-Interaction - Triesch, von der Malsburg (1998) (7 citations) Self-citation (Triesch) (Correct)
....be placed. The robot recognizes the gestures by tracking the hand until it comes to rest and then analyzing the hand s posture. All the other skills needed by the robot, e.g. recognition of shape and orientation of the object pointed at, grip planning and grip execution are discussed elsewhere [1]. 3. Tracking of the User s Hand The tracking of the user s hand relies on a combination of motion and color cues. An additional stereo cue rules out targets which are not in the plane of Thetaxation. We use images downsampled to a size of 96 x 71 pixels in HSI (hue, saturation, intensity) color ....
M. Becker, E. Kefalea, E. Ma#el, C. v.d. Malsburg, M. Pagel, J. Triesch, J. C. Vorbr#uggen, R. P. W#urtz, and S. Zadel. GripSee: a robot for visually-guided grasping. in preparation, 1998.
Robotic Gesture Recognition - Triesch, von der Malsburg (1997) (9 citations) Self-citation (Triesch) (Correct)
.... gestures which object to grasp and how to grasp it, as well as where to put it (figure 2) This application requires a number of other skills needed by the robot, e.g. recognition of shape and orientation of the object pointed to, grip planning and grip execution, which are discussed elsewhere [1]. 10 Fig. 9. Example of a graph of the correct posture being matched onto the input image. The gestures are defined as pointing movements to the objects with a particular hand shape. The user s hand is tracked until it comes to rest using the techniques described in section 2. As the whole table ....
M. Becker, E. Kefalea, E. Mael, C. v. d. Malsburg, M. Pagel, J. Triesch, J.C. Vorbruggen, and S. Zadel. GripSee: a robot for visually-guided grasping. Submitted to: ICRA'98.
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