Josef Pauli

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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 demonstrate 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 geometric-photometric compatibilities. The(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)
Robust time-to-contact calculation belongs to the most desirable techniques in the field of autonomous robot navigation. Using only image measurements it provides a method to determine when contact with a visible object will be made. However the computation of the time-to-contact values is very sensitive to noisy measurements of feature positions in a(More)
PURPOSE A fully automatic method is proposed for extracting human spine curve which is required for gait modeling. By means of the gait modeling, origin of the gait pathology of patients could be found. METHODS Our method is composed of two parts. The first part is the extraction of intervertebral disk positions where an efficient method is proposed. At(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)