Christoph Weinrich

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In this paper, we present a monocular, texture-based method for person detection and upper-body orientation classification. We build on a commonly used approach for person recognition that uses a Support Vector Machine (SVM) on Histograms of Oriented Gradients (HOG) [1] but replace the SVM by a decision tree with SVMs as binary decision makers. Thereby, in(More)
People detection in 2D laser range data is a popular cue for person tracking in mobile robotics. Many approaches are designed to detect pairs of legs. These approaches perform well in many public environments. However, we are working on an assistance robot for stroke patients in a rehabilitation center, where most of the people need walking aids. These(More)
In order to act socially compliant with humans, mobile robots need to show several behaviors that require the prediction of people's motion. For example, when a robot avoids a person, it needs to respect the human's personal space [1] and the avoidance behavior needs to be smooth, so that it is understandable to the interaction partner. To achieve this, the(More)
We report on a measurement of the parity violating asymmetry in the elastic scattering of polarized electrons off unpolarized protons with the A4 apparatus at MAMI in Mainz at a four momentum transfer value of Q(2)=0.108 (GeV/c)(2) and at a forward electron scattering angle of 30 degrees <theta(e)<40 degrees . The measured asymmetry is(More)
We report on a measurement of the parity-violating asymmetry in the scattering of longitudinally polarized electrons on unpolarized protons at a Q2 of 0.230 (GeV/c)(2) and a scattering angle of theta (e) = 30 degrees - 40 degrees. Using a large acceptance fast PbF2 calorimeter with a solid angle of delta omega = 0.62 sr, the A4 experiment is the first(More)
Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service robotics. Arguably, the closer the robot is programmed to the individual's needs, the more useful it is, and we believe that giving people the(More)
People detection and tracking are key aspects in current research on mobile robots. While plenty of research is focused on pedestrian tracking in public areas, fewer work exists on practical people tracking in home environments with non static cameras. This paper presents a real-time people tracking system for mobile robots that applies multiple(More)
Developing methods for people tracking on mobile robots is of great interest to engineers and scientists alike. Plenty of research is focused on pedestrian tracking in public areas. Yet, fewer work exists on practical people tracking in home environments with non-static cameras. This paper presents a realtime people tracking system for mobile robots that(More)
For certain mass-marked robot applications it is essential to have cheap, efficient and reliable methods of sensormotor code generation, hand-programming is not a viable option in such cases. We present a new method to program mobile robots — “code identification by demonstration” — which algorithmically transfers human behaviours directly to robot control(More)