Tobias Fromm

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3-D object recognition has become a major research topic. New low-cost sensors hit the market making 3-D vision affordable for anyone. On the software side, promising open-source tools and libraries have prospered recently. The most important one, regarding 3-D data processing, undoubtedly is the Point Cloud Library (PCL). From an integrator's point of(More)
This in vitro study investigated the relationship between rabbit colonic muscularis mucosae motor activity and changes in transmucosal potential difference. Spontaneous muscle contractions and potential difference oscillations occurred independently and were not neurally driven. ACh and histamine directly stimulated the muscularis mucosae, but their mucosal(More)
This in vitro study tested the hypothesis that muscularis mucosae contractile activity contributes to rabbit colonic mucosal function by mechanisms other than simple mechanical deformation of the epithelium. Experiments were performed by using a technique that allows simultaneous recording of muscle activity and transmucosal potential difference, a measure(More)
Miniature unmanned aerial vehicles (UAVs) have attracted wide interest from researchers and developers because of their broad applications. In order to make a miniature UAV platform popular for civilian applications, one critical concern is the overall cost. However, lower cost generally means lower navigational accuracy and insufficient flight control(More)
This article discusses the scientifically and industrially important problem of automating the process of unloading goods from standard shipping containers. We outline some of the challenges barring further adoption of robotic solutions to this problem, ranging from handling a vast variety of shapes, sizes, weights, appearances, and packing arrangements of(More)
An approach for generating textured 3D models of objects without the need for complex infrastructure such as turn-tables or high-end sensors on precisely controlled rails is presented. The method is inexpensive as it uses only a low-cost RGBD sensor, e.g., Microsoft Kinect or ASUS Xtion, and Augmented Reality (AR) markers printed on paper sheets. The sensor(More)
The operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a(More)
Robust object recognition is a crucial requirement for many robotic applications. We propose a method towards increasing reliability and flexibility of object recognition for robotics. This is achieved by the fusion of diverse recognition frameworks and algorithms on score level which use characteristics like shape, texture and color of the objects. Machine(More)
Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledge processing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core components: (◦) A background knowledge enabled perception system, which is capable of combining diverse information(More)
Today, robots are already able to solve specific tasks in laboratory environments. Since everyday environments are more complex, the robot skills required to solve everyday tasks cannot be known in advance and thus not be programmed beforehand. Rather, the robot must be able to learn those tasks being instructed by users without any technical background.(More)