Filters








40 Hits in 1.1 sec

MPG - A Framework for Reasoning on 6 DOF Pose Uncertainty [article]

Wendelin Feiten, Muriel Lang
2017 arXiv   pre-print
Also, the parameters should have no singularities or Wendelin Feiten is with Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany, Muriel Lang is with Ludwig-Maximilians-University  ...  RELATED WORK The Mixture of Projected Gaussians (MPG) was first presented by Feiten et al. [1] and then expanded by Muriel Lang in her Diploma Thesis [2] .  ... 
arXiv:1707.01941v1 fatcat:5nrpibufobfibgpg5tsqqdfglm

Robust, Compliant Assembly via Optimal Belief Space Planning [article]

Florian Wirnshofer, Philipp S. Schmitt, Wendelin Feiten, Georg v. Wichert, Wolfram Burgard
2018 arXiv   pre-print
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and non-linear contact-dynamics. Furthermore, object poses and model parameters, such as friction, are not exactly known and a source of uncertainty. The method proposed in this paper models the task of parts assembly as a belief space planning problem over an
more » ... ing impedance-controlled, compliant system. To solve this planning problem we introduce an asymptotically optimal belief space planner by extending an optimal, randomized, kinodynamic motion planner to non-deterministic domains. Under an expansiveness assumption we establish probabilistic completeness and asymptotic optimality. We validate our approach in thorough, simulated and real-world experiments of multiple assembly tasks. The experiments demonstrate our planner's ability to reliably assemble objects, solely based on CAD models as input.
arXiv:1811.03904v1 fatcat:stq5y5wpmvfbnai2v2wkhthz7e

6D Pose Uncertainty in Robotic Perception [chapter]

Wendelin Feiten, Pradeep Atwal, Robert Eidenberger, Thilo Grundmann
2009 Advances in Robotics Research  
Robotic perception is fundamental to important application areas. In the Joint Research Project DESIRE, we develop a robotic perception system with the aim of perceiving and modeling an unprepared kitchen scenario with many objects. It relies on the fusion of information from weak features from heterogenous sensors in order to classify and localize objects. This requires the representation of wide spread probability distributions of the 6D pose. In this paper we present a framework for
more » ... stic modeling of 6D poses that represents a large class of probability distributions and provides among others the operations of fusion of estimates and uncertain propagation of estimates. The orientation part of a pose is described by a unit quaternion. The translation part is described either by a 3D vector (when we define the probability density function) or by a purely imaginary quaternion (which leads to a prepresentation of a transform by a dual quaternion). A basic probability density function over the poses is defined by a tangent point on the 3D sphere (representing unit quaternions), and a 6D Gaussian distribution over the product of the tangent space of the sphere and of the space of translations. The projection of this Gaussian induces a distribution over 6D poses. One such base element is called a Projected Gaussian. The set of Mixtures of Projected Gaussians can approximate the probability density functions that arise in our application, is closed under the operations mentioned above and allows for an efficient implementation.
doi:10.1007/978-3-642-01213-6_9 fatcat:hg56loxjzfe6rhoyb4g6lg4wky

Scene Analysis for Service Robots [chapter]

Robert Eidenberger, Thilo Grundmann, Martin Schneider, Wendelin Feiten, Michael Fiegert, Georg v. Wichert, Gisbert Lawitzky
2012 Springer Tracts in Advanced Robotics  
Feiten et al. [10] also describe the orientation by unit quaternions, the translation part by a 3D vector.  ... 
doi:10.1007/978-3-642-25116-0_15 fatcat:5x3ls6ethrd6rjrf46dbh4ohci

Fast parametric viewpoint estimation for active object detection

Robert Eidenberger, Thilo Grundmann, Wendelin Feiten, Raoul Zoellner
2008 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  
Most current solutions to active perception planning struggle with complex state representations or fast and efficient sensor parameter selection strategies. The goal is to find new viewpoints or optimize sensor parameters for further measurements in order to classify an object and precisely locate its position. This paper presents an exclusively parametric approach for the state estimation and decision making process to achieve very low computational complexity and short calculation times. The
more » ... proposed approach assumes a realistic, high dimensional and continuous state space for the representation of objects expressing their rotation, translation and class. Its probability distribution is described by multivariate mixtures of Gaussians which allow the representation of arbitrary object hypotheses. In a statistical framework Bayesian state estimation updates the current state probability distribution based on a scene observation which depends on the sensor parameters. These are selected in a decision process which aims on reducing the uncertainty in the state distribution. Approximations of information theoretic measurements are used as evaluation criteria.
doi:10.1109/mfi.2008.4648083 dblp:conf/mfi/EidenbergerGFZ08 fatcat:tjage7sifngzvdnosiuuodgzom

A Gaussian measurement model for local interest point based 6 DOF pose estimation

Thilo Grundmann, Wendelin Feiten, Georg v. Wichert
2011 2011 IEEE International Conference on Robotics and Automation  
Grundmann, Wendelin Feiten and Georg v. Wichert are with Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, Germany Fig. 1 . 1 Fig. 1.  ... 
doi:10.1109/icra.2011.5980284 dblp:conf/icra/GrundmannFW11 fatcat:xoxb6uwt4neyhl3d5z2deikc7y

A new concept for a cooperative fusion platform

Wendelin Feiten, Susana Alcalde Bagues, Michael Fiegert, Feihu Zhang, Dhiraj Gulati, Tim Tiedemann
2016 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)  
Feiten are with Siemens AG, Corporate Technology, Munich, Germany, e-mail: {wendelin.feiten, susana.alcalde, michael.fiegert}@siemens.com Feihu Zhang and Dhiraj Gulati are with fortiss GmbH, Munich, Germany  ...  the Fusion Model Fig. 6 . 6 Localization with landmark Fig. 7 . 7 Concept hierarchy Fig. 8 . 8 Operator Invert Fig. 9 . 9 The generic Kalman Filter Susana Alcalde Bagüés, Michael Fiegert and Wendelin  ... 
doi:10.1109/mfi.2016.7849478 dblp:conf/mfi/FeitenBFZGT16 fatcat:mgm4tdbohje6rh4kb54zfz37pm

A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems [chapter]

Daniel Meyer-Delius, Christian Plagemann, Georg von Wichert, Wendelin Feiten, Gisbert Lawitzky, Wolfram Burgard
2008 Studies in Classification, Data Analysis, and Knowledge Organization  
Artificial systems with a high degree of autonomy require reliable semantic information about the context they operate in. However, state interpretation is a difficult task. Interpretations may depend on a history states and there may be more than one valid interpretation. We propose a model for spatio-temporal situations using hidden Markov models based on relational state descriptions, which are extracted from the estimated state of an underlying dynamic system. Our model covers concurrent
more » ... uations, scenarios with multiple agents, and situations of varying durations. In this work we apply our model to the concrete task of traffic analysis.
doi:10.1007/978-3-540-78246-9_32 fatcat:4nufjsvvqbbwpautfecpublb54

CASE 2019 Index

2019 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)  
, Wendelin ................................................. 780 Fekete, Sándor ..................................................... 1789 Fer, Danyal ..................................................  ...  Faronov, Maksim V. ........................................... 867 Farooqui, Ashfaq Hussain ................................... 502 Fechter, Manuel .................................................. 836 Feiten  ... 
doi:10.1109/coase.2019.8843042 fatcat:us4bwrsvgzf5ne3flvf5a2sqtq

Table of Contents

2020 2020 Fourth IEEE International Conference on Robotic Computing (IRC)  
Schmitt (Siemens AG), Sebastian Albrecht (Siemens AG), Wendelin Feiten (Siemens AG), and Jianwei Zhang (University of Hamburg, Faculty of Mathematics, Informatics and Natural Sciences) Session 6:  ... 
doi:10.1109/irc.2020.00004 fatcat:qreedpffljctbf4iwtu4brpiqa

An die Herren Käsehändler, Wurster und Tapezierer

1891 unpublished
Sßolttticbe SBetterfabnen SJcantelbreber, Umiattler unb Slpoftaten mögen fieb mit bem tjeilfgen Wendelin am 5. Suü enttdjulbigen. !  ...  einer 33anf fi^enb): ©ie, ©ebutimann, baê ift bocb nicbt in ber Drbnung, bafj ber ©prengroagenfutieber bter bte 33anf iprengt " Söiufintann: Sa, ba müffen ©te nacb SJconaco geben, ba roirb bte 33anf febr feiten  ... 
doi:10.5169/seals-429884 fatcat:xg5n6akpojgvxnb2xqjwdpzjay

St. Galler Kantonal-Sängerfest

1891 unpublished
Sßolttticbe SBetterfabnen SJcantelbreber, Umiattler unb Slpoftaten mögen fieb mit bem tjeilfgen Wendelin am 5. Suü enttdjulbigen. !  ...  einer 33anf fi^enb): ©ie, ©ebutimann, baê ift bocb nicbt in ber Drbnung, bafj ber ©prengroagenfutieber bter bte 33anf iprengt " Söiufintann: Sa, ba müffen ©te nacb SJconaco geben, ba roirb bte 33anf febr feiten  ... 
doi:10.5169/seals-429885 fatcat:4utn3lehjnhc3gwb5ezshy5zhm

Von der Weltbühne

1891 unpublished
Sßolttticbe SBetterfabnen SJcantelbreber, Umiattler unb Slpoftaten mögen fieb mit bem tjeilfgen Wendelin am 5. Suü enttdjulbigen. !  ...  einer 33anf fi^enb): ©ie, ©ebutimann, baê ift bocb nicbt in ber Drbnung, bafj ber ©prengroagenfutieber bter bte 33anf iprengt " Söiufintann: Sa, ba müffen ©te nacb SJconaco geben, ba roirb bte 33anf febr feiten  ... 
doi:10.5169/seals-429887 fatcat:psgigfq7indrbb2lyocfcd6cni

Von der Kaserne Beundenfeld

1891 unpublished
Sßolttticbe SBetterfabnen SJcantelbreber, Umiattler unb Slpoftaten mögen fieb mit bem tjeilfgen Wendelin am 5. Suü enttdjulbigen. !  ...  einer 33anf fi^enb): ©ie, ©ebutimann, baê ift bocb nicbt in ber Drbnung, bafj ber ©prengroagenfutieber bter bte 33anf iprengt " Söiufintann: Sa, ba müffen ©te nacb SJconaco geben, ba roirb bte 33anf febr feiten  ... 
doi:10.5169/seals-429886 fatcat:vlpzaot2cjdd3aedv2vcohzuhq

Kalender-Heilige

1891 unpublished
Sßolttticbe SBetterfabnen SJcantelbreber, Umiattler unb Slpoftaten mögen fieb mit bem tjeilfgen Wendelin am 5. Suü enttdjulbigen. !  ...  einer 33anf fi^enb): ©ie, ©ebutimann, baê ift bocb nicbt in ber Drbnung, bafj ber ©prengroagenfutieber bter bte 33anf iprengt " Söiufintann: Sa, ba müffen ©te nacb SJconaco geben, ba roirb bte 33anf febr feiten  ... 
doi:10.5169/seals-429888 fatcat:xwmrlewxpnda7bpm7cou26igfe
« Previous Showing results 1 — 15 out of 40 results