9 accepted papers
To detect changes in an environment, one has to decide whether a set of recent observations is incompatible with a set of previous observations. For binary, lidar-based grid maps, this is essentially the case when the laser beam traverses a voxel that has been observed as occupied, or when the beam
Most of the conventional approaches to mobile robot navigation avoid any kind of contact with the environment or with humans. As nowadays distance sensors typically have a limited - and often only two-dimensional - field of view, collisions with the environment or contacts with humans cannot be full…
An objective performance measure for movement tasks is widely regarded as having utmost relevance for the therapy of movement disorders. Existing systems typically rely on human experts, which is known to produce substantial inter- and intra-rater variability. Present solutions are either based on s…
A popular class of lidar-based grid mapping algorithms computes for each map cell the probability that it reflects an incident laser beam. These algorithms typically determine the map as the set of reflection probabilities that maximizes the likelihood of the underlying laser data and do not compute…
The objective characterization of human motion is required in a variety of fields including competitive sports, rehabilitation and the detection of motor deficits. Nowadays, typically human experts evaluate the motor behavior. These evaluations are based on their individual experience which leads to…
Robotic assistants have the potential to greatly improve our quality of life by supporting us in our daily activities. A service robot acting autonomously in an indoor environment is faced with very complex tasks. Consider the problem of pouring a liquid into a cup, the robot should first determine…
Motion analysis is important in a broad range of contexts, including animation, bio-mechanics, robotics and experiments investigating animal behavior. For applications, in which tracking accuracy is one of the main requirements, passive optical motion capture systems are widely used. Many skeleton t
This paper provides a new fully-decentralized al- gorithm for Collaborative Localization based on the extended Kalman filter. The major challenge in decentralized collaborative localization is to track inter-robot dependencies â which is particularly difficult in situations where sustained synchro…
The ability to track skeletal movements is important in a variety of applications including animation, biological studies and animal experiments. To detect even small movements, such a method should provide highly accurate estimates. Besides that it should not impede the mammal in its motion. This m…