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Vision-based Generation of Precedence Graphs

Title data

Rohner, Dorian ; Fichtner, Myriel ; Henrich, Dominik:
Vision-based Generation of Precedence Graphs.
In: Schüppstuhl, Thorsten ; Tracht, Kirsten ; Roßmann, Jürgen (ed.): Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. - Berlin ; Heidelberg : Springer Vieweg , 2019 . - pp. 13-22
ISBN 9783662593165
DOI: https://doi.org/10.1007/978-3-662-59317-2_2

Abstract in another language

The current developments in robotics aim towards a usage in households and small and medium-sized enterprises. In this case it is necessary to coordinate human and robot by describing the task in a common model. Precedence graphs are a possible representation of such a model. The generation of these is tedious especially for non-experts.We contribute a vision-based approach which generates precedence graphs based on a world representation generated by an registered eye-in-hand camera. To achieve this, we describe a world representation based on boundary representation models and a corresponding object recognition method. The results are used to generate the precedence graph by calculating the AND/OR graph as an intermediate step. We evaluate our approach based on several scene models and on a real world application.

Further data

Item Type: Article in a book
Refereed: Yes
Keywords: Task models; Precedence graph; Object recognition; Boundary representation
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich
Result of work at the UBT: Yes
DDC Subjects: 000 Computer Science, information, general works > 004 Computer science
600 Technology, medicine, applied sciences > 600 Technology
Date Deposited: 17 Jul 2019 08:37
Last Modified: 17 Jul 2019 08:37
URI: https://eref.uni-bayreuth.de/id/eprint/51533