Publications

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. Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations. In ICRA, 2020.

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. SMErobotics: Smart Robots for Flexible Manufacturing. In IEEE-RAM, 2019.

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. Constraint-based Approaches for Robotic Systems: from Computer Vision to Real-Time Robot Control. PhD Dissertation, TUM, 2018.

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. An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints under Kinematic Constraints and Error Bounds. In IROS, 2018.

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. Robust Vehicle Infrastructure Cooperative Localization in Presence of Clutter. In FUSION, 2018.

. Visual Servoing in a Prioritized Constraint-based Torque Control Framework. In ICIS, 2018.

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. Adapting the search subspace of a particle filter using geometric constraints. In Technical Report TUM, 2017.

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. Image Processing Units on Ultra-low-cost Embedded Hardware: Algorithmic Optimizations for Real-time Performance. In Journal of Signal Processing Systems, 2017.

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. An exact solver for geometric constraints with inequalities. In RA-L/ICRA, 2017.

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. Task level robot programming using prioritized non-linear inequality constraints. In IROS, 2016.

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. Intuitive Instruction of Industrial Robots: Semantic Process Descriptions for Small Lot Production. In IROS, 2016.

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. On cognitive robot woodworking in SMErobotics. In ISR, 2016.

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. Orthogonal Image Features for Visual Servoing of a 6-DOF Manipulator with Uncalibrated Stereo Cameras. In T-RO, 2016.

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. Prioritized Motion-Force Control of Multi-Constraints for Industrial Manipulators. In ROBIO, 2015.

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. Object detection using boundary representations of primitive shapes. In ROBIO, 2015.

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. Ubiquitous semantics: Representing and exploiting knowledge, geometry, and language for cognitive robot systems. In Workshop Towards Intelligent Social Robots - Current Advances in Cognitive Robotics at HUMANOIDS, 2015.

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. Toward efficient robot teach-in and semantic process descriptions for small lot sizes. In Workshop on Combining AI Reasoning and Cognitive Science with Robotics, RSS, 2015.

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. Multimodal human activity recognition for industrial manufacturing processes in robotic workcells. In ICMI, 2015.

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. Multimodal binding of parameters for task-based robot programming based on semantic descriptions of modalities and parameter types. In Workshop on Multimodal Semantics for Robotic Systems, IROS, 2015.

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. Constraint-Based Task Programming with CAD Semantics: From Intuitive Specification to Real-Time Control. In IROS, 2015.

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. Analysis and semantic modeling of modality preferences in industrial human-robot interaction. In IROS, 2015.

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. An Ontology for {CAD} Data and Geometric Constraints as a Link Between Product Models and Semantic Robot Task Descriptions. In IROS, 2015.

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. Uncalibrated Stereo Visual Servoing for Manipulators using Virtual Impedance Control. In ICARCV, 2014.

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. Object Recognition using constraints from Primitive Shape Matching. In ISVC, 2014.

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. Human Activity Recognition in the Context of Industrial Human-Robot Interaction. In APSIPA ASC, 2014.

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. 6D Image-based Visual Servoing for Robot Manipulators with Uncalibrated Stereo Cameras. In IROS, 2014.

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. Uncalibrated 3D Stereo Image-based Dynamic Visual Servoing for Robot Manipulators. In IROS, 2013.

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. Uncalibrated 3D Stereo Image-based Dynamic Visual Servoing for Robot Manipulators. In ISR, 2013.

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. Scene Perception and Recognition for Human-Robot Co-Operation. In ACVR Workshop, 2013.

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. Scene Perception and Recognition in industrial environments. In ISVC, 2013.

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