Andreas Ruf

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This paper presents results of a model–based approach to visual tracking and pose estimation for a moving polyhedral tool in position–based visual servoing. This enables the control of a robot in look-and-move mode to achieve six degree of freedom goal configurations. Robust solutions of the correspondence problem – known as " matching " in the static case(More)
The recently described junctional adhesion molecules (JAMs) in man and mice are involved in homotypic and heterotypic intercellular interactions. Here, a third member of this family, human JAM-3, was identified and described as a novel counterreceptor on platelets for the leukocyte beta2-integrin Mac-1 (alphaMbeta2, CD11b/CD18). With the help of two(More)
Visual servoing of robot manipulators is a key technique where the appearance of an object in the image plane is used t o c ontrol the velocity of the end-eeector such that the desired position is reached in the scene. The vast majority of visual servo-ing methods proposed so far uses calibrated robots in conjunction with calibrated c ameras. It has been(More)
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an uncalibrated stereo rig to be used as a faithful motion capturing device. We introduce an original theoretical framework – projective kine-matics – which allows(More)
This paper investigates the homography which transforms a set of points in projective space when undergoing a rigid translation, termed a projective translation. A representation with seven parameters is proposed. They represent explicitly the geometric entities constraining and defining the translation. A practical algebraic method for extracting these(More)
In this paper we describe a method for estimating the internal parameters of the left and right cameras associated with a stereo image pair. The stereo pair has known epipolar geometry and therefore 3-D projective reconstruction of pairs of matched image points is available. The stereo pair is allowed to move and hence there is a collineation relating the(More)
Reference measurement procedures are indispensable to reliably determine blood cell concentrations, since medical diagnosis, initiation of therapy and control of blood products are often based on concentration limits of specific cell subpopulations. We have developed a reference procedure to directly determine stem cell concentrations. In the same(More)
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