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—We present an object recognition system coding shape by viewpoint invariant geometric relations and appearance. In our intelligent work-cell, the system can observe the work space of the robot by 3 pairs of Kinect and stereo cameras allowing for reliable and complete object information. We show that in such a setup we can achieve high performance already(More)
— Effective robot manipulation requires a vision system which can extract features of the environment which determine what manipulation actions are possible. There is existing work in this direction under the broad banner of recognising " affordances ". We are particularly interested in possibilities for actions afforded by relationships among pairs of(More)
We present a deep hierarchical visual system with two parallel hierarchies for edge and surface information. In the two hierarchies, complementary visual information is represented on different levels of granularity together with the associated uncertainties and confidences. At all levels, geometric and appearance information is coded explicitly in 2D and(More)
We present an integrated system for the recognition, pose estimation and simultaneous tracking of multiple objects in 3D scenes. Our target application is a complete semantic representation of dynamic scenes which requires three essential steps; recognition of objects, tracking their movements, and identification of interactions between them. We address(More)
Visual attention models are typically based on the concept of saliency, a conspicuity measure which considers features such as color, intensity or orientation. Much current research aims at modeling top-down interactions, which highly influence human attentional behavior. Typically, these are in the form of targets to be searched for or general(More)
In this article, we describe technologies facilitating the set-up of automated assembly solutions which have been developed in the context of the IntellAct project (2011–2014). Tedious procedures are currently still required to establish such robot solutions. This hinders especially the automation of so called few-of-a-kind production. Therefore, most(More)
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