Vision-guided object pose estimation for robotic pushing in real-time

Object pushing in robotics has numerous applications, but it often relies on room-bound object tracking systems such as Motion Capture (MoCap) for accurate object pose acquisition. Such systems limit the potential use scenarios, since they add complexity and cost and require expansion of the sensor infrastructure for expanding the operational...

Intrinsic Plasticity for Robust Event-Based Optic Flow Estimation

Event cameras and spiking neural networks (SNNs) allow for a highly bio-inspired, low-latency and power efficient implementation of optic flow estimation. Just recently, a hierarchical SNN was proposed in which motion selectivity is learned from raw event data in an unsupervised manner using spike-timing-dependent plasticity (STDP). However,...

Computer Vision for Gear Alignment Check and Condition Monitoring of Wind Turbine Gearboxes

Wind energy plays a major role in the ongoing energy transition. To accelerate the adoption of wind energy and thereby the energy transition, the Levelized Cost of Energy (LCOE) has to be minimized. Apart from increasing turbine performance, reducing turbine down-time can contribute to lowering the LCOE.Down-time is defined as time during which...

Adaptive Observer for Automated Emergency Maneuvers: Fusing cost-efficient onboard sensors with computer vision into a robust estimate of sideslip angle using online covariance calculation

One of the most promising ideas in autonomous vehicle control systems is letting the vehicle drive autonomously outside the normal, linear, operating region and letting it "drift". By doing so, the maneuverability of the vehicle could be enhanced. To enable systems that can control this behaviour, estimation of certain vehicle states is needed...

Uncertainty Estimation in Vision-Aided Robot Teleoperation System

Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra...

Joint probabilistic pedestrian head and body orientation estimation

This work presents an approach for joint estimation of the pedestrian head and body orientation in the context of active pedestrian safety systems. It involves a probabilistic framework, where a set of orientation-specific detectors are used for each body part for both localization and orientation estimation, their responses being converted to a...

Vision-based 3D Human Motion Analysis in a Hierarchical Way

In the last decade, computer vision has drawn more and more attention because of its potential applications in our daily lives, such as health care, education, safety, and training. However the high complexity of many of the vision-based approaches hinders their practical applications, especially in applications where immediate feedback is...