Sebastian Klose

Learn More
Most stereo correspondence algorithms match support windows at integer-valued disparities and assume a constant disparity value within the support window. The recently proposed Patch Match stereo algorithm by Bleyer et al. overcomes this limitation of previous algorithms by directly estimating planes. This work presents a method that integrates the Patch(More)
In this paper we give an evaluation of different methods for computing frame-to-frame motion estimates for a moving RGB-D sensor, by means of aligning two images using photometric error minimization. These kind of algorithms have recently shown to be very accurate and robust and therefore provide an attractive solution for robot ego-motion estimation and(More)
This paper presents a novel controller architecture for a quadrocopter. A two-loop controller using dynamic inversion is designed that allows direct commands for position and heading angle. The inner loop controls the body-fixed angular rates. And the outer loop achieves the position control. With this structure, the position dynamic equation appears in an(More)
In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of(More)
The stereo correspondence problem is still a highly active topic of research with many applications in the robotic domain. Still many state of the art algorithms proposed to date are unable to reasonably handle high resolution images due to their run time complexities or memory requirements. In this work we propose a novel stereo correspondence estimation(More)
We propose a novel method for planar hand detection from a single uncalibrated image, with the purpose of estimating the articulated pose of a generic model, roughly adapted to the current hand shape. The proposed method combines line and point correspondences, associated to finger tips, lines and concavities, extracted from color and intensity edges. The(More)
In this work we propose a novel approach to the problem of multi-view stereo reconstruction. Building upon the previously proposed PatchMatch stereo and PM-Huber algorithm we introduce an extension to the multi-view scenario that employs an iterative refinement scheme. Our proposed approach uses an extended and robustified volumetric truncated signed(More)
This article reports an ongoing project, an educational platform for cyber-physical/embedded systems by using Lego equipments and Fpgas. The platform targets the projects in lab exercise and practical training for both undergraduate and graduate students with a multidisciplinary background. The current version of the platform has been firstly applied to a(More)
This paper shows the programming and usage of computer based interfaces to embed models in modern SDSSs. The special focus is on the development and implementation of non-Java based interfaces which couple already existing Microsoft (MS) Excel-based models to individual designed SDSSs. To access MS Excel files within these developed systems, Java API(More)
We have provided some common message definitions and headers required to complete the exercises into a utilities package available here: For this assignment we will be using the affine covariant features evaluation dataset (see http: // that we have repackaged into rosbag files(More)