Manfred Kröhnert

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Software development plays a major role besides hardware setup and mechanical design when it comes to building complex robots such as mobile manipulators or humanoids. Different requirements have to be addressed depending on the application. A low-level controller for example must be implemented for real-time use, whereas a task planning component will(More)
With ArmarX we introduce a robot programming environment that has been developed in order to ease the realization of higher level capabilities needed by complex robotic systems such as humanoid robots. ArmarX is built upon the idea that consistent disclosure of the system state strongly facilitates the development process of distributed robot applications.(More)
ed through the Sensor–Actor unit concept. These Sensor–Actor units realize hardware or simulator access and hide the low-level communication from higher-level layers of the robot software. On the mid-level, robot capabilities, such as perception, planning, and motion generation, are implemented in a network transparent way. The high-level layer comprises a(More)
Corner-detection techniques are being widely used in computer vision – for example in object recognition to find suitable candidate points for feature registration and matching. Most computer-vision applications have to operate on real-time video sequences, hence maintaining a consistent throughput and high accuracy are important constrains that ensure(More)
In this paper we introduce the robot development environment (RDE) Ar-marX. The goal of ArmarX is to ease the development of higher level capabilities for complex robotic systems. ArmarX is built upon the idea that consistent disclosure of the system state highly facilitates the development process. In order to show its applicability , we introduce a robot(More)
Multiprocessor system-on-chip (MPSoC) designs offer a lot of computational power assembled in a compact design. The computing power of MPSoCs can be further augmented by adding massively parallel processor arrays (MPPA) and specialized hardware with instruction-set extensions. On-chip MPPAs can be used to accelerate low-level image-processing algorithms(More)
Kd-tree search is widely used today in computer vision - for example in object recognition to process a large set of features and identify the objects in a scene. However, the search times vary widely based on the size of the data set to be processed, the number of objects present in the frame, the size and shape of the kd-tree, etc. Constraining the search(More)
Optical flow is widely used in many applications of portable mobile devices and automotive embedded systems for the determination of motion of objects in a visual scene. Also in robotics, it is used for motion detection, object segmentation, time-to-contact information, focus of expansion calculations, robot navigation, and automatic parking for vehicles.(More)
The robot development environment (RDE) ArmarX aims at providing an infrastructure for developing a customized robot framework that allows realizing distributed robot software components. This includes communication properties, start-up and error handling, mechanisms for state implementations, interface definitions and concepts for the structured(More)