Ulrich Klank

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Humanoid robotic assistants need capable and comprehensive perception systems that enable them to perform complex manipulation and grasping tasks. This requires the identification and recognition of supporting planes and objects in the world, together with their precise 3D pose. In this paper, we propose a 3D perception system architecture that can robustly(More)
In this paper we report on a recent public experiment that shows two robots making pancakes using web instructions. In the experiment, the robots retrieve instructions for making pancakes from the World Wide Web and generate robot action plans from the instructions. This task is jointly performed by two autonomous robots: The first robot opens and closes(More)
In this paper, we investigate the problem of 3D object categorization of objects typically present in kitchen environments, from data acquired using a composite sensor. Our framework combines different sensing modalities and defines descriptive features in various spaces for the purpose of learning good object models. By fusing the 3D information acquired(More)
In this article, we describe and discuss the use of information that is available in the World Wide Web and intended for human use as a knowledge resource for autonomous service robots. To this end, we introduce several categories of Web sites that can serve as information sources and explain which kinds of information they provide. We then investigate(More)
Fiber optic endoscopy is essential for minimally invasive surgery, but endoscopic images are very challenging for computer vision algorithms, since they contain many effects like tissue deformations, specular reflections, smoke, variable illumination and field of view. We developed a method to extract features from endoscopic images usable for scene(More)
Service Robots in real world environments need to have computer vision capability for detecting a large class of objects. We discuss how freely available 3D model databases can be used to enable robots to know the appearance of a wide variety of objects in human environments with special application to our Assistive Kitchen. However, the open and free(More)
This paper introduces the Assistive Kitchen as a comprehensive demonstration and challenge scenario for technical cognitive systems. We describe its hardware and software infrastructure. Within the Assistive Kitchen application, we select particular domain activities as research subjects and identify the cognitive capabilities needed for perceiving,(More)
Robotic grasping in an open environment requires both object-specific as well as general grasping skills. When the objects are previously known it is possible to employ techniques that exploit object models, like geometrical grasping simulators. On the other hand, a competent system will also be able to deal with unmodeled objects using general solutions.(More)
Service robots that should operate autonomously need to perform actions reliably, and be able to adapt to their changing environment using learning mechanisms. Optimally, robots should learn continuously but this approach often suffers from problems like over-fitting, drifting or dealing with incomplete data. In this paper, we propose a method to(More)