Wörgötter, Florentin Andreas

[["dc.bibliographiccitation.artnumber","e10663"],["dc.bibliographiccitation.issue","6"],["dc.bibliographiccitation.journal","PloS one"],["dc.bibliographiccitation.lastpage","e10663"],["dc.bibliographiccitation.volume","5"],["dc.contributor.author","Pugeault, Nicolas"],["dc.contributor.author","Wörgötter, Florentin"],["dc.contributor.author","Krüger, Norbert"],["dc.date.accessioned","2019-07-09T11:53:16Z"],["dc.date.available","2019-07-09T11:53:16Z"],["dc.date.issued","2010-04-20"],["dc.description.abstract","In its early stages, the visual system suffers from a lot of ambiguity and noise that severely limits the performance of early vision algorithms. This article presents feedback mechanisms between early visual processes, such as perceptual grouping, stereopsis and depth reconstruction, that allow the system to reduce this ambiguity and improve early representation of visual information. In the first part, the article proposes a local perceptual grouping algorithm that - in addition to commonly used geometric information - makes use of a novel multi-modal measure between local edge/line features. The grouping information is then used to: 1\\) disambiguate stereopsis by enforcing that stereo matches preserve groups; and 2\\) correct the reconstruction error due to the image pixel sampling using a linear interpolation over the groups. The integration of mutual feedback between early vision processes is shown to reduce considerably ambiguity and noise without the need for global constraints."],["dc.identifier.doi","10.1371/journal.pone.0010663"],["dc.identifier.fs","580961"],["dc.identifier.pmid","20544006"],["dc.identifier.purl","https://resolver.sub.uni-goettingen.de/purl?gs-1/7201"],["dc.identifier.uri","https://resolver.sub.uni-goettingen.de/purl?gro-2/60384"],["dc.language.iso","en"],["dc.notes","The work described in this paper was funded by the European projects PACOplus and IRFO. Florentin Woergoetter acknowledges funding by the\r\nBernstein Center for Computational Neuroscience, Göttingen. The funders had no role in study design, data collection and analysis, decision to publish, or\r\npreparation of the manuscript."],["dc.notes.intern","Merged from goescholar"],["dc.relation","info:eu-repo/grantAgreement/EC/FP7/027657"],["dc.relation.euproject","PACO-PLUS"],["dc.relation.issn","1932-6203"],["dc.relation.orgunit","Fakultät für Physik"],["dc.rights","CC BY 2.5"],["dc.rights.access","openAccess"],["dc.rights.uri","http://creativecommons.org/licenses/by/2.5/"],["dc.subject.mesh","Algorithms"],["dc.subject.mesh","Humans"],["dc.subject.mesh","Visual Perception"],["dc.title","Disambiguating multi-modal scene representations using perceptual grouping constraints."],["dc.type","journal_article"],["dc.type.internalPublication","yes"],["dc.type.version","published_version"],["dspace.entity.type","Publication"]]

[["dc.bibliographiccitation.firstpage","1179"],["dc.bibliographiccitation.issue","10-11"],["dc.bibliographiccitation.journal","The International Journal of Robotics Research"],["dc.bibliographiccitation.lastpage","1207"],["dc.bibliographiccitation.volume","38"],["dc.contributor.author","Tamosiunaite, Minija"],["dc.contributor.author","Aein, Mohamad Javad"],["dc.contributor.author","Braun, Jan Matthias"],["dc.contributor.author","Kulvicius, Tomas"],["dc.contributor.author","Markievicz, Irena"],["dc.contributor.author","Kapociute-Dzikiene, Jurgita"],["dc.contributor.author","Valteryte, Rita"],["dc.contributor.author","Haidu, Andrei"],["dc.contributor.author","Chrysostomou, Dimitrios"],["dc.contributor.author","Ridge, Barry"],["dc.contributor.author","Krilavicius, Tomas"],["dc.contributor.author","Vitkute-Adzgauskiene, Daiva"],["dc.contributor.author","Beetz, Michael"],["dc.contributor.author","Madsen, Ole"],["dc.contributor.author","Ude, Ales"],["dc.contributor.author","Krüger, Norbert"],["dc.contributor.author","Wörgötter, Florentin"],["dc.date.accessioned","2020-12-10T18:38:25Z"],["dc.date.available","2020-12-10T18:38:25Z"],["dc.date.issued","2019"],["dc.description.abstract","Human beings can generalize from one action to similar ones. Robots cannot do this and progress concerning information transfer between robotic actions is slow. We have designed a system that performs action generalization for manipulation actions in different scenarios. It relies on an action representation for which we perform code-snippet replacement, combining information from different actions to form new ones. The system interprets human instructions via a parser using simplified language. It uses action and object names to index action data tables (ADTs), where execution-relevant information is stored. We have created an ADT database from three different sources (KUKA LWR, UR5, and simulation) and show how a new ADT is generated by cutting and recombining data from existing ADTs. To achieve this, a small set of action templates is used. After parsing a new instruction, index-based searching finds similar ADTs in the database. Then the action template of the new action is matched against the information in the similar ADTs. Code snippets are extracted and ranked according to matching quality. The new ADT is created by concatenating code snippets from best matches. For execution, only coordinate transforms are needed to account for the poses of the objects in the new scene. The system was evaluated, without additional error correction, using 45 unknown objects in 81 new action executions, with 80% success. We then extended the method including more detailed shape information, which further reduced errors. This demonstrates that cut \\u0026 recombine is a viable approach for action generalization in service robotic applications."],["dc.description.sponsorship","European Community’s Seventh Framework Programme FP7 ICT-2011.2.1, Cognitive Systems and Robotics"],["dc.identifier.doi","10.1177/0278364919865594"],["dc.identifier.eissn","1741-3176"],["dc.identifier.issn","0278-3649"],["dc.identifier.uri","https://resolver.sub.uni-goettingen.de/purl?gro-2/77309"],["dc.language.iso","en"],["dc.notes.intern","DOI Import GROB-354"],["dc.publisher","SAGE Publications"],["dc.relation.eissn","1741-3176"],["dc.relation.issn","0278-3649"],["dc.rights","http://creativecommons.org/licenses/by-nc/4.0/"],["dc.title","Cut & recombine: reuse of robot action components based on simple language instructions"],["dc.type","journal_article"],["dc.type.internalPublication","yes"],["dspace.entity.type","Publication"]]