Advanced 3D Simulation Technology for eRobotics: Techniques, Trends, and Chances

Schluse, Michael; Schlette, Christian; Waspe, Ralf; Roßmann, Jürgen

doi:10.1109/dese.2013.35

Cited by 6 publications

(2 citation statements)

References 14 publications

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“…Based on calibrated components, the level of detail of the simulation allows for the development of data processing algorithms and control schemes for operating and controlling the simulated system. The algorithms and schemes developed in the VTB are then transferred to operate and control the real system using methods of hardware/software-in-the-loop and simulation-based control [68].…”

Section: Virtual Testbed Support For System Development and Optimmentioning

confidence: 99%

Teaching a Robot the Semantics of Assembly Tasks

Savarimuthu

Buch

Schlette

et al. 2018

IEEE Trans. Syst. Man Cybern, Syst.

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We present a three-level cognitive system in a Learning by Demonstration (LbD) context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated to these two levels are connected by an efficient mid-level representation based on so called "Semantic Event Chains". We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a Technical Readiness Level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

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Section: Virtual Testbed Support For System Development and Optimmentioning

confidence: 99%

Teaching a Robot the Semantics of Assembly Tasks

Savarimuthu

Buch

Schlette

et al. 2018

IEEE Trans. Syst. Man Cybern, Syst.

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“…Simulation-based investigation of robotic solutions using general purpose simulation frameworks is an expanding field. For example, the eRobotics methodology provides a development platform for roboticists to exchange ideas and to collaborate with experts from other disciplines (Schluse et al, 2013). eRobotics aims at providing comprehensive digital Left) The scene in simulation along with the most important parameters for the sensor placement.…”

Section: Introductionmentioning

confidence: 99%

Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation

Jørgensen

Iversen

Lindvig

et al. 2018

Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Application

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In this paper, we optimize the placement of a camera in simulation in order to achieve a high success rate for a pose estimation problem. This is achieved by simulating 2D images from a stereo camera in a virtual scene. The stereo images are then used to generate 3D point clouds based on two different methods, namely a single shot stereo matching approach and a multi shot approach using phase shift patterns. After a point cloud is generated, we use a RANSAC-based pose estimation algorithm, which relies on feature matching of local 3D descriptors. The object we pose estimate is a tray containing items to be grasped by a robot. The pose estimation is done for different positions of the tray and with different item configuration in the tray, in order to determine the success rate of the pose estimation algorithm for a specific camera placement. Then the camera placement is varied according to different optimization algorithms in order to maximize the success rate. Finally, we evaluate the simulation in a real world scene, to determine whether the optimal camera position found in simulation matches the real scenario.

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Model-Based Development of Robotic Systems and Services in Construction Robotics

Schlette

Roßmann

2016

Advances in Intelligent Systems and Computing

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Advanced 3D Simulation Technology for eRobotics: Techniques, Trends, and Chances

Cited by 6 publications

References 14 publications

Teaching a Robot the Semantics of Assembly Tasks

Teaching a Robot the Semantics of Assembly Tasks

Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation

Model-Based Development of Robotic Systems and Services in Construction Robotics

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