Learn More
This paper presents a novel approach to obtain reliable and robust time-to-contact estimates from a monocular moving camera observing various obstacles. The algorithm utilizes interest points to measure the relative scale change of an obstacle and applies robust estimation techniques to combine the different measurements into one of three possible motion(More)
This paper presents a method to support point cloud registration with color information. For this purpose we integrate L*a*b* color space information into the Generalized Iterative Closest Point (GICP) algorithm, a state-of-the-art Plane-To-Plane ICP variant. A six-dimensional k-d tree based nearest neighbor search is used to match corresponding points(More)
We apply techniques of computer vision and neural network learning to get a versatile robot manipulator. All work conducted follows the principle of autonomous learning from visual demonstration. The user must demonstra te the relevant objects, situations, and/or actions, and the robot vision system must learn from those. For approaching and grasping(More)
In this paper a novel spline-based multi-lane detection and tracking system is proposed. Reliable lane detection and tracking is an important component of lane departure warning systems, lane keeping support systems or lane change assistance systems. The major novelty of the proposed approach is the usage of the so-called Catmull-Rom spline in combination(More)
The work presents a methodology contributing to boundary extraction in images of approximate polyhedral objects. We make extensive use of basic principles underlying the process of image formation and thus reduce the role of object-specific knowledge. Simple configurations of line segments are extracted subject to geometricphotometric compatibilities. The(More)