at Google ScholarTitle 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
: 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 Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III |
| 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: | 27 Nov 2023 12:32 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/51533 |