Matthias Nieuwenhuisen

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Micro aerial vehicles, such as multirotors, are particularly well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance or disaster management. Key prerequisites for the fully autonomous operation of micro aerial vehicles are real-time obstacle detection and planning of collision-free trajectories. In this(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 anthropo-morphic 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(More)
— Reliably perceiving obstacles and avoiding collisions is key for the fully autonomous application of micro aerial vehicles (MAVs). Limiting factors for increasing autonomy and complexity of MAVs are limited onboard sensing and limited onboard processing power. In this paper, we propose a complete system with a multimodal sensor setup for omnidirectional(More)
Grasping objects from unstructured piles is an important, but difficult task. We present a new framework to grasp objects composed of shape primitives like cylinders and spheres. For object recognition, we employ efficient shape primitive detection methods in 3D point clouds. Object models composed of such primitives are then found in the detected shapes(More)
The operation of robotic tour guides in public museums leads to a variety of interactions of these complex technical systems with humans of all ages and with different technical backgrounds. Interacting with a robot is a new experience for many visitors. An intuitive user interface, preferable one that resembles the interaction between human tour guides and(More)
In this paper we describe details of our winning team Nimb-Ro@Home at the RoboCup@Home competition 2012. This year we improved the gripper design of our robots and further advanced mobile manipulation capabilities such as object perception and manipulation planning. For human-robot interaction, we propose to complement face-to-face communication between(More)
— In the last decades, tremendous progress has been made in the field of autonomous indoor navigation for mobile robots. However, these approaches assume the structural part of the environment to be completely static. In practice, movable parts of scenes, e.g. doors, frequently violate this assumption which leads to poor performance. Also, mobile(More)
Perception of the environment is crucial in terms of successfully playing soccer. Especially the detection of other players improves game play skills, such as obstacle avoidance and path planning. Such information can help refine reactive behavioral strategies, and is conducive to team play capabilities. Robot detection in the RoboCup Standard Platform(More)
— Deploying robots at public places exposes highly complex systems to a variety of potential interaction partners of all ages and with different technical backgrounds. Most of these individuals may have never interacted with a robot before. This raises the need for robots with an intuitive user interface, usable without prior training. Furthermore,(More)
Domestic service tasks require three main skills from autonomous robots: robust navigation in indoor environments, flexible object manipulation, and intuitive communication with the users. In this report, we present the communication skills of our anthropomorphic service and communication robots Dynamaid and Robotinho. Both robots are equipped with an(More)