Tracking and data association
Principles of (low-level) computer vision
Fundamentals in computer understanding: speech and vision
The Active Recovery of 3D Motion Trajectories and Their Use in Prediction
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robotic hand-eye coordination: new solutions with uncalibrated stereo cameras
Machine Vision and Applications
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Integrating Grasp Planning and Visual Servoing for Automatic Grasping
The 4th International Symposium on Experimental Robotics IV
The 4th International Symposium on Experimental Robotics IV
Repräsentation von Wissen zur Auswertung von Bildern
Angewandte Szenenanalyse, DAGM Symposium
A Kalman filter based visual tracking algorithm for an object moving in 3D
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Model-based tracking of complex innercity road intersections
Mathematical and Computer Modelling: An International Journal
Robot-vision architecture for real-time 6-DOF object localization
Computer Vision and Image Understanding
Real-time Hybrid Tracking using Edge and Texture Information
International Journal of Robotics Research
Measuring scene complexity to adapt feature selection of model-based object tracking
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
Dynamic 6DOF metrology for evaluating a visual servoing system
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Resolving stereo matching errors due to repetitive structures using model information
Pattern Recognition Letters
Mathematical metrology for evaluating a 6DOF visual servoing system
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Methodology for evaluating static six-degree-of-freedom (6DoF) perception systems
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
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Automatic disassembly tasks in the engine compartment of a used car constitute a challenge for control of a disassembly robot by machine vision. Experience in exploratory experiments under such conditions forced us to abandon data-driven aggregation of edge elements into straight-line data segments in favor of a direct association of individual edge elements with model segments obtained from scene domain models of tools and workpieces. In addition, we had to switch from a conventional single camera hand-eye configuration to a movable stereo-configuration mounted on a separate ‘observer’ robot. A generalisation of our model-based tracking includes the parameters, which characterize the relative pose of one camera with respect to the other one of the stereo-camera set-up, into the set of parameters to be re-estimated for each new stereo image pair. This results in a continuous re-calibration during a relative movement between stereo-camera set-up and tracked objects. Our approach had to be extended further in order to cope with non-polyhedral objects.The methodological improvements of machine vision in the course of this research are treated in detail. We discuss, moreover, the systematic trading-off of computational resources for increased robustness which is vital for visual control of automatic disassembly robots.