Technische Universität München Robotics and Embedded Systems
 

ResearchRobVis

 

Robust Visual Tracking for Robotic Systems

The RobVis project aims at research and development vision driven real-world robotic system with main focus on robustness and stability. The goal is to develop general purpose vision system which can be easily integrated into various robotic environments or safe human robot interaction.

Research focus

Visual Tracking

Robotics

Videos

*Robust and real-time 3D multiple human tracking in environment with drastic changes in lighting

People

Acknowledgement

Publications

[1] Suraj Nair, Nikhil Somani, Artur Grunau, Emmanuel Dean-Leon, and Alois Knoll. Image processing units on ultra-low-cost embedded hardware: Algorithmic optimizations for real-time performance. Journal of Signal Processing Systems, pages 1-17, 8 2017. [ DOI | .bib ]
[2] Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani, and Alois Knoll. 6D Image-based Visual Servoing for Robot Manipulators with Uncalibrated Stereo Cameras. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2014. [ DOI | .bib | .pdf ]
[3] Caixia Cai, Emmanuel Dean-Leon, Dario Mendoza, Nikhil Somani, and Alois Knoll. Uncalibrated 3D Stereo Image-based Dynamic Visual Servoing for Robot Manipulators. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013. [ DOI | .bib | .pdf ]
[4] Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani, and Alois Knoll. 3D Image-based Dynamic Visual Servoing with Uncalibrated Stereo Cameras. In The 44th Internation Symposium on Robotics (ISR), October 2013. [ DOI | .bib | .pdf ]
[5] Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai, and Alois Knoll. Scene Perception and Recognition for Human-Robot Co-Operation. In ICIAP'13 workshop: First International Workshop on Assistive Computer Vision and Robotics (ACVR 2013). The 17th International Conference on Image Analysis and Processing., September 2013. [ .bib | .pdf ]
[6] Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai, and Alois Knoll. Perception and Reasoning for Scene Understanding in Human-Robot Interaction Scenarios. In CAIP'13 workshop: Recognition and Action for Scene understanding (REACTS 2013). The 15th International Conference of Computer Analysis of Images and Patterns., August 2013. [ .bib | .pdf ]
[7] Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai, and Alois Knoll. Scene Perception and Recognition in industrial environments for Human-Robot Interaction. In 9th International Symposium on Visual Computing (ISVC'13). Springer, July 2013. [ DOI | .bib | .pdf ]
[8] Vincent T. van Hees, Lukas Gorzelniak, Emmanuel Dean-Leon, Martin Eder, Marcelo Pias, Salman Taherian, Ulf Ekelund, Frida Renström, Paul W. Franks, Alexander Horsch, and Søren Brage. Separating movement and gravity components in an acceleration signal and implications for the assessment of human daily physical activity. PLoS ONE, 2013. [ DOI | .bib | .pdf ]
[9] M.A. Nasseri, M. Eder, S. Nair, E.C. Dean, M. Maier, D. Zapp, C.P. Lohmann, and A. Knoll. The introduction of a new robot for assistance in ophthalmic surgery. In Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE, pages 5682-5685, 2013. [ DOI | .bib | .pdf ]
[10] S. Can, B. Jensen, E. Dean-Leon, C. Staub, A. Knoll, A. Fiolka, A. Schneider, A. Meining, and H. Feussner. Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery. In IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2012. [ .bib | .pdf ]
[11] E.C. Dean-León, S. Nair, and A. Knoll. User friendly matlab-toolbox for symbolic robot dynamic modeling used for control design. In IEEE International Conference on Robotics and Biomimetics ROBIO-2012, 2012. [ .bib | .pdf ]
[12] Suraj Nair, Emmanuel Dean-Leon, and Alois Knoll. Real-time 3D multiple human tracking with robustness enhancement through machine learning. In International Conference on Computer Vision Theory and Applications, 2012. [ .bib | .pdf ]
[13] M. Ali Nasseri, Emmanuel Dean-Leon, Suraj Nair, Martin Eder, Mathias Maier, C. P. Lohmann, and Alois Knoll. Clinical motion tracking and motion analysis during ophthalmic surgery using electromagnetic tracking system. In Proceedings of the 5th International Conference on BioMedical Engineering and Informatics (BMEI 2012), pages 1006-1010. IEEE Press, 2012. [ .bib | .pdf ]
[14] Suraj Nair, Emmanuel Dean, and Alois Knoll. 3d position based multiple human servoing by low-level-control of 6 dof industrial robot. In Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics. IEEE, 2011. [ .bib | .pdf ]
[15] J.A. Flores-Campos, E.C. Dean-León, and C. Palacios-Montufar. Robot motion planning for multiple moving objects interception with constant acceleration. In VII Congreso Internacional sobre Innovación y Desarrollo Tecnológico CIINDET, 2009. [ .bib | .pdf ]
[16] E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Visual servoing for constrained planar robots subject to complexfriction. IEEE/ASME Transactions on Mechatronics, 11(4), 2006. [ DOI | .bib | .pdf ]
[17] E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Global uncalibrated visual servoing for constrained robots working on uncalibrated environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots andSystems (IROS), 2006. [ DOI | .bib | .pdf ]
[18] Vicente Parra-Vega and Emmanuel Dean-Leon. Orthogonalization principle for dynamic visual servoing of constrained robot manipulators. In Sadao Kawamura and Mikhail Svinin, editors, Advances in Robot Control, pages 83-105. Springer Berlin Heidelberg, 2006. [ DOI | .bib | .pdf ]
[19] V. Parra-Vega, R. García-Rodriguez, E.C. Dean-León, and F. Ruiz-Sanchez. An adaptive neural network controller for visual tracking of constrained robot manipulators. American Control Conference (ACC), 2005. [ DOI | .bib | .pdf ]
[20] L. García, E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Experimental results of image-based adaptive visual servoing of 2d robots under jacobian and dynamic friction uncertainties. In Proc. of the 6th International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Jun 2005. [ .bib | .pdf ]
[21] E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero, and L. García. Adaptive visual servoing for constrained robots under jacobian, jointdynamic and contact viscous friction uncertainties. In Proc.of the 16th International Federation of Automatic Control: WORLD CONGRESS(IFAC), jul 2005. [ DOI | .bib | .pdf ]
[22] E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero, and L. García. Visual servoing for constrained robots: A new complete theoreticalframework and its experimental validation. In Proc. of the IEEE/ASMEInternational Conference on Advanced Intelligent Mechatronics (AIM), Jul 2005. [ DOI | .bib | .pdf ]
[23] E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Experimental study on image-based position: Force adaptive visual servoing for constrained robots under jacobian and dynamic friction uncertainties. In Proc. of the IEEE International Conference on Mechatronicsand Automation (ICMA), jul 2005. [ DOI | .bib | .pdf ]
[24] E.C. Dean-León, V. Parra-Vega, NewAuthor3, and L. García. Uncalibrated image-based position-force adaptive visual servoing for constrained robots under dynamic friction uncertainties. In Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), aug 2005. [ DOI | .bib | .pdf ]
[25] E.C. Dean-León, V. Parra-Vega, and L. García. Experimental study on a fast tracking and smooth constrained motion controller for robot arms. Congreso Anual de la Asociación de México de ControlAutomático (AMCA), Oct 2005. [ .bib | .pdf ]
[26] E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Visual servoing for constrained robots in an unknown environment: A new complete theoretical framework and its experimental validation. In Proc. of the 36thInternational Symposium on Robotics (ISR), Nov 2005. [ .bib | .pdf ]
[27] E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero, and J.D Fierro-Rojas. Dynamical image-based pid uncalibrated visual servoing with fixed camera for tracking of planar robots with a heuristical predictor. In Proc.of the 2nd IEEE International Conference on Industrial Informatics, INDIN 04, 2004. [ DOI | .bib | .pdf ]
[28] E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Image-based visual/force/position control under parametric uncertainties of camera and robot arm. In Proc. of the International Conference on Electrical and Electronics Engineering and X Conference on Electrical Engineering(ICEEE/CIE), 2004. [ DOI | .bib | .pdf ]
[29] J.D Fierro-Rojas, E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero. Adaptive predictor-based sliding pid uncalibrated visual servoing with uncertain jacobian for dynamic tracking of robots. In Proc. of the 4th International Conference on Advanced Mechatronics (ICAM), 2004. [ .bib | .pdf ]
[30] M. Sandoval, A. Espinosa-Romero, E.C. Dean-León, and L.A. Muñoz. Control visual de un sistema de extracción para hornos giratorios:servo control visual. Congreso Mexicano de Robótica, RoboticsMexican Association (COMROB), 2004. [ .bib | .pdf ]
[31] E.C. Dean-León, Heberth Sira-Ramirez, and Vicente Parra-Vega. Algebraic on-line identifier for visual servoing of robot manipulators. InternationalSymposium on Robotics and Automation (ISRA), 2002. [ .bib | .pdf ]