11 accepted papers
An open-source software framework is presented that allows real-time underwater mapping with popular marine robotics components, namely a BlueRobotics BlueROV2 with its standard Ping360 Mechanical Scanning Sonar (MSS) and a A50 Doppler Velocity Log (DVL), which are low-cost devices for their respect…
In this paper, we introduce Fourier-SOFT 2D (FS2D) as a new robust registration method. FS2D operates in the frequency domain where it exploits the well-known decoupling of rotation and translation. The challenging part of determining the rotation parameter is solved here based on a projection of th…
High-end laser range-finders provide accurate 3D data over long ranges. But their scans are inhomogeneous, i.e., the environment is non-uniformly sampled, as there is denser data in the near range than in the far range. Furthermore, the generation of a scan is time-consuming. Thus, it is desirable t…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating manipulation and mapping. State-of-the-art navigation in com…
A topological shape analysis is proposed and utilized to learn concepts that reflect shape commonalities. Our approach is two-fold: i) a spatial topology analysis of point cloud segment constellations within objects. Therein constellations are decomposed and described in an hierarchical manner - fro…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data acquisition, perception and localization to control. We presen…
An extension based on attention and anticipation of a robot vision pipeline for object recognition in RGBD images from low-cost sensors like MS Kinect or ASUS Xtion is presented. This work originated in research on an industrial application scenario, namely shipping-container unloading, but it is ap…
We present a hierarchical graph-based approach for unknown object discovery in RGB-D point clouds captured with a Kinect-like sensor from unstructured scenes. A two-step approach is proposed which first extracts meaningful regions from an input scene through over-segmentation. Secondly, a procedure
We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a physics simulation. Instead of avoiding interaction with th…
Given that 3D scan matching is such a central part of the perception pipeline for robots, thorough and large-scale investigations of scan matching performance are still surprisingly few. A crucial part of the scientific method is to perform experiments that can be replicated by other researchers in…
This paper proposes a new method for segmenting and classifying seamines on Synthetic Aperture Sonar (SAS) side scan images. The method uses an active contours approach and superellipse a-priori knowledge to segment the image in object, object-shadow and background areas. In contrast to other method…