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We propose a novel Large-Scale Direct SLAM algorithm for stereo cameras (Stereo LSD-SLAM) that runs in real-time at high frame rate on standard CPUs. In contrast to sparse interest-point based methods, our approach aligns images directly based on the photoconsistency of all high-contrast pixels, including corners, edges and high texture areas. It(More)
— Domestic service tasks require three main skills from autonomous robots: robust navigation, mobile manipulation , and intuitive communication with the users. Most robot platforms, however, support only one or two of the above skills. In this paper we present Dynamaid, a new robot platform for research on domestic service applications. For robust(More)
Joint attention between a human user and a robot is essential for effective human-robot interaction. In this work, we propose an approach to person awareness and to the perception of showing and pointing gestures for a domestic service robot. In contrast to previous work, we do not require the person to be at a predefined position, but instead actively(More)
We propose a real-time approach to learn semantic maps from moving RGB-D cameras. Our method models geometry, appearance, and semantic labeling of surfaces. We recover camera pose using simultaneous localization and mapping while concurrently recognizing and segmenting object classes in the images. Our object-class segmentation approach is based on random(More)
Grasping individual objects from an unordered pile in a box has been investigated in static scenarios so far. In this paper, we demonstrate bin picking with an anthropomorphic mobile robot. To this end, we extend global navigation techniques by precise local alignment with a transport box. Objects are detected in range images using a shape primitive-based(More)
For planning grasps and other object manipulation actions in complex environments, 3D semantic information becomes crucial. This paper focuses on the application of recent 3D Time-of-Flight (ToF) cameras in the context of semantic scene analysis. For being able to acquire semantic information from ToF camera data, we a) pre-process the data including(More)
In this paper, we present SURE features – a novel combination of interest point detector and descriptor for 3D point clouds and depth images. We propose an entropy-based interest operator that selects distinctive points on surfaces. It measures the variation in surface orientation from surface normals in the local vicinity of a point. We complement our(More)
Grasping individual objects from an unordered pile in a box has been investigated in stationary scenarios so far. In this work, we present a complete system including active object perception and grasp planning for bin picking with a mobile robot. At the core of our approach is an efficient representation of objects as compounds of simple shape and contour(More)
Many mobile service robots operate in close interaction with humans. Being constantly aware of the people in the surrounding of the robot thus poses an important challenge to perception and behavior design. In this paper, we present an approach to people awareness for mobile service robots that utilizes knowledge about the semantics of the environment. The(More)