Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects

Sagerer G, Bauckhage C, Braun E, Fritsch J, Kummert F, Lömker F, Wachsmuth S (2002)
In: Sensor Based Intelligent Robots. Hager GD, Christensen HI, Bunke H, Klein R (Eds); Lecture Notes in Computer Science, 2238, . Springer: 317-344.

Conference Paper | Published | English

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Hager, G. D. ; Christensen, Henrik I. ; Bunke, H. ; Klein, R.
Abstract
Supervising robotic assembly of multi-functional objects by means of a computer vision system requires components to identify assembly operations and to recognize feasible assemblies of single objects. Thus, the structure of complex objects as well as their construction process are of interest. If the results of both components should be consistent there have to be common models providing knowledge about the intended application. However, if the assembly system should handle not only exactly specified tasks it is rather impossible to model every possible assembly or action explicitly. The fusion of a flexible dynamic model for assemblies and a monitor for the construction process enables a reliable and efficient learning and supervision. As an example, the construction of objects by aggregating wooden toy pieces is used. The system also integrates a natural speech dialog module, which provides the overall communication strategy and additionally support decisions in the case of ambiguities and uncertainty.
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Sagerer G, Bauckhage C, Braun E, et al. Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects. In: Hager GD, Christensen HI, Bunke H, Klein R, eds. Sensor Based Intelligent Robots. Lecture Notes in Computer Science, 2238. Springer; 2002: 317-344.
Sagerer, G., Bauckhage, C., Braun, E., Fritsch, J., Kummert, F., Lömker, F., & Wachsmuth, S. (2002). Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects. In G. D. Hager, H. I. Christensen, H. Bunke, & R. Klein (Eds.), Lecture Notes in Computer Science, 2238. Sensor Based Intelligent Robots (pp. 317-344). Springer.
Sagerer, G., Bauckhage, C., Braun, E., Fritsch, J., Kummert, F., Lömker, F., and Wachsmuth, S. (2002). “Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects” in Sensor Based Intelligent Robots, ed. G. D. Hager, H. I. Christensen, H. Bunke, and R. Klein Lecture Notes in Computer Science, 2238 (Springer), 317-344.
Sagerer, G., et al., 2002. Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects. In G. D. Hager, et al., eds. Sensor Based Intelligent Robots. Lecture Notes in Computer Science, 2238. Springer, pp. 317-344.
G. Sagerer, et al., “Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects”, Sensor Based Intelligent Robots, G.D. Hager, et al., eds., Lecture Notes in Computer Science, 2238, Springer, 2002, pp.317-344.
Sagerer, G., Bauckhage, C., Braun, E., Fritsch, J., Kummert, F., Lömker, F., Wachsmuth, S.: Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects. In: Hager, G.D., Christensen, H.I., Bunke, H., and Klein, R. (eds.) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, 2238. p. 317-344. Springer (2002).
Sagerer, Gerhard, Bauckhage, Christian, Braun, Elke, Fritsch, Jannik, Kummert, Franz, Lömker, Frank, and Wachsmuth, Sven. “Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects”. Sensor Based Intelligent Robots. Ed. G. D. Hager, Henrik I. Christensen, H. Bunke, and R. Klein. Springer, 2002. Lecture Notes in Computer Science, 2238. 317-344.
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