Alexa Hauck

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In the eld of visual control of robot motion, visual servoing has been proposed as the suitable control strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still(More)
This paper presents an approach to the recognition of articulated 3D objects in monocular video images. A hierarchical object representation models objects as a composition of rigid components which are explicitly connected by speciic kinematic constraints, e.g., rotational and/or translational joints. The recognition task follows this tree-like structure(More)
The design of mobile robots which can cope with unexpected disturbances like obstacles or misplaced objects is an active eld of research. Such an autonomous robot assesses the situation by comparing data from one or more sensors with an internal representation of its environment. In this paper we present a hierarchically structured world model that combines(More)
Systems that use visual information for manipulator control usually fall into one of two groups: Classical open-loop methods which localise objects in video images and then guide the robot accordingly, or visual servo systems that close the control loop with a continuous feedback of visual information. We propose a hybrid hand-eye system that combines both(More)