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Udo Frese

6 accepted papers

2023

DORMADL - Dataset of Human-Operated Robot Arm Motion in Activities of Daily Living

Felix Goldau, Yashaswini Shivashankar, Annalies Baumeister, Lennart Drescher, Patrizia Tolle, Udo Frese
IROS 2023poster

This work presents a dataset of human-operated robot motion to be used within the context of assistive robotics and assorted fields, such as learning from demonstrations, machine-learning based robot control, and activity recognition. The data consists of individual sequences of intentional robot mo…

Cited by 2Source ↗Scholar ↗
2022

Improving Object Pose Estimation by Fusion With a Multimodal Prior - Utilizing Uncertainty-Based CNN Pipelines for Robotics

Jesse Richter-Klug, Patrick Mania, Gayane Kazhoyan, Michael Beetz, Udo Frese
RA-L 2022

Estimating the pose of an object is essential for robot manipulation. In many applications the spatial and geometric relations between the object and the other parts of the world, e.g. the relation between the object and its supporting plane, are a-priori known or can be assumed with a certain accur

Cited by 5Source ↗Scholar ↗
2019

ESKO6d - A Binocular and RGB-D Dataset of Stored Kitchen Objects with 6d Poses

Jesse Richter-Klug, Constantin Wellhausen, Udo Frese
IROS 2019poster

We present a new dataset with the goal of advancing the state-of-the-art in object pose estimation especially for stored porcelain and glass crockery in kitchen scenes. Specifically the ESKO 6d (EASE Stored Kitchen Objects with 6d poses) dataset features texture-less, glossy or glassy ordinary used…

Cited by 2Source ↗Scholar ↗
2015

Posture from motion

Felix Wenk, Udo Frese
IROS 2015poster

This paper presents an estimator to obtain the posture of a moving skeleton, i.e. all relative orientations of the skeleton's bodies that are connected via a common joint. The estimator uses inertial sensor data only, the relative orientation around all axes is obtained without magnetometers. Instea…

Cited by 18Source ↗Scholar ↗