DLR - Institute of Robotics and Mechatronics

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	Autonomous C-Space Exploration and Object Inspection The Multisensory 3D-Modeller, developed at the Institute of Robotics and Mechatronics, acquires 3-D information about the environment. This device consists of a 7-dof passive manipulator mounted with four different types of sensors: a light-stripe sensor, a laser-range scanner, a passive stereo vision sensor, and a texture sensor.
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Pose-Invariant Object Recognition

Robust scene interpretation by means of machine vision is a key factor in various new applications in robotics. Part of this problem is the efficient recognition and classification of previously known three-dimensional (3D) shapes in arbitrary scenes. So far, heavily constrained conditions have been utilized, or otherwise solutions have not been achieved in real time.

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Photorealistic 3D modelling

Today in robotics, computer vision in a broad sense can be regarded as the key technology for realizing systems with an enhanced level of autonomy. In this domain, we tackle problems from a wide methodological range, from image-based tracking to scene understanding and world modeling. With such a broad scope, we can address application demands as diverse as rapid visual servoing and flexible adaptive behavior for a robot system, or generation of photo-realistic representations in a virtual-reality context.

Tracking and Servoing

When a rigid object moves in 3D space relative to a camera, it is often interesting to know how its relative pose changes in its full 6 degrees of freedom (DoF). The problem of 6-DoF tracking arises in the context of numerous applications within and beyond robotics.

Medical Applications

One key aspect necessary for a successful minimally invasive intervention is preoperative planning, done by the surgeon in order to prepare the intervention and to decide about the best access to the surgical site. In case of robotically assisted interventions the results of these decisions must be transferred also to the robotic equipment.

Autonomous C-Space Exploration and Object Inspection

Pose-Invariant Object Recognition

Photorealistic 3D modelling

Tracking and Servoing

Medical Applications