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— In this paper, we propose a framework for intuitive task-based programming of robots using geometric inter-relational constraints. The intended applications of this framework are robot programming interfaces that use semantically rich task descriptions, allow intuitive (reprogramming g, and are suitable for non-expert users typically found in SMEs. A key(More)
In this paper, a scene perception and recognition module aimed at use in typical industrial scenarios is presented. The major contribution of this work lies in a 3D object detection, recognition and pose estimation module, which can be trained using CAD models and works for noisy data, partial views and in cluttered scenes. This algorithm was qualitatively(More)
— In this paper, we introduce an approach for leveraging CAD description to a semantic level, in order to link additional knowledge to CAD models and to exploit resulting synergy effects. This has been achieved by designing a description language, based on the Web Ontology Language (OWL), that is used to define boundary representations (BREP) of objects.(More)
In this paper, an object recognition and pose estimation approach based on constraints from primitive shape matching is presented. Additionally, an approach for primitive shape detection from point clouds using an energy minimization formulation is presented. Each primitive shape in an object adds geometric constraints on the object's pose. An algorithm is(More)
— Intuitive programming of industrial robots is especially important for small and medium-sized enterprises. We evaluated four different input modalities (touch, gesture, speech, 3D tracking device) regarding their preference, usability, and intuitiveness for robot programming. A Wizard-of-Oz experiment was conducted with 30 participants and its results(More)
— This paper introduces a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators. One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Cartesian Space (a visual feature space where 3D positions(More)
In this paper, an intuitive interface for collaborative tasks involving a human and a standard industrial robot is presented. The target for this interface is a worker who is experienced in manufacturing processes but has no experience in conventional industrial robot programming. Physical Human-Robot Interaction (pHRI) and interactive GUI control using(More)
— This paper introduces 6 new image features to provide a solution to the open problem of uncalibrated 6D image-based visual servoing for robot manipulators, where the goal is to control the 3D position and orientation of the robot end-effector using visual feedback. One of the main contributions of this article is a novel stereo camera model which employs(More)
—Human activity recognition is crucial for intuitive cooperation between humans and robots. We present an approach for activity recognition for applications in the context of human-robot interaction in industrial settings. The approach is based on spatial and temporal features derived from skeletal data of human workers performing assembly tasks. These(More)
— In this paper, an approach for matching of primitive shapes detected from point clouds, to boundary representations of primitive shapes contained in CAD models of objects/workpieces is presented. The primary target application is object detection and pose estimation from noisy RGBD sensor data. This approach can also be used to determine incomplete object(More)