Now showing items 1-20 of 21

  • 3d semantic representation of actions from effcient stereo-image-sequence segmentation on GPUs 

    Alexey, Abramov; Aksoy, Eren Erdal; Dörr, Johannes; Wörgötter, Florentin; Pauwels, Karl; Dellen, Babette (2010)
    Conference report
    Open Access
    A novel real-time framework for model-free stereo-video segmentation and stereo-segment tracking is presented, combining real-time optical flow and stereo with image segmentation running separately on two GPUs. The ...
  • A general strategy for interactive decision-making in robotic platforms 

    Agostini, Alejandro Gabriel; Torras, Carme; Wörgötter, Florentin (2011)
    External research report
    Open Access
    This work presents an intergated strategy for planning and learning suitable to execute tasks with robotic platforms without any previous task specification. The approach rapidly learns planning operators from few action ...
  • A local algorithm for the computation of image velocity via constructive interference of global Fourier components 

    Dellen, Babette; Wörgötter, Florentin (2011)
    Article
    Open Access
    A novel Fourier-based technique for local motion detection from image sequences is proposed. In this method, the instantaneous velocities of local image points are inferred directly from the global 3D Fourier components ...
  • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (University of Karlsruhe, 2008)
    Conference report
    Open Access
    In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
  • Action rule induction from cause-effect pairs learned through robot-teacher interaction 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (2008)
    Conference report
    Open Access
    In this work we propose a decision-making system that efficiently learns behaviors in the form of rules using natural human instructions about cause-effect relations in currently observed situations, avoiding complicated ...
  • Categorizing object-actions relations from semantic scene graphs 

    Aksoy, Eren Erdal; Abramov, Alexey; Wörgötter, Florentin; Dellen, Babette (2010)
    Conference report
    Restricted access - publisher's policy
    In this work we introduce a novel approach for detecting spatiotemporal object-action relations, leading to both, action recognition and object categorization. Semantic scene graphs are extracted from image sequences and ...
  • Cognitive agents: a procedural perspective relying on the predictability of object-action-omplexes (OACs) 

    Wörgötter, Florentin; Agostini, Alejandro Gabriel; Krüger, Norbert; Shylo, Natalya; Porr, Ben (2009)
    Article
    Open Access
    Embodied cognition suggests that complex cognitive traits can only arise when agents have a body situated in the world. The aspects of embodiment and situatedness are being discussed here from the perspective of linear ...
  • Depth-supported real-time video segmentation with the Kinect 

    Abramov, Alexey; Pauwels, Karl; Papon, Jeremie; Wörgötter, Florentin; Dellen, Babette (2011)
    Conference report
    Restricted access - publisher's policy
    We present a real-time technique for the spatiotemporal segmentation of color/depth movies. Images are segmented using a parallel Metropolis algorithm implemented on a GPU utilizing both color and depth information, acquired ...
  • Disparity from stereo-segment silhouettes of weakly-textured images 

    Dellen, Babette; Wörgötter, Florentin (2009)
    Conference report
    Open Access
    We propose a novel robust stereo algorithm for weakly-textured scenes. Unique correspondences existing between the silhouettes of corresponding image segments allow assigning accurate disparities to segment boundary points. ...
  • Execution of a dual-object (pushing) action with semantic event chains 

    Aksoy, Eren Erdal; Dellen, Babette; Tamosiunaite, Minija; Wörgötter, Florentin (IEEE Press. Institute of Electrical and Electronics Engineers, 2011)
    Conference report
    Open Access
    Execution of a manipulation after learning from demonstration many times requires intricate planning and control systems or some form of manual guidance for a robot. Here we present a framework for manipulation execution ...
  • Integrating task planning and interactive learning for robots to work in human environments 

    Agostini, Alejandro Gabriel; Torras, Carme; Wörgötter, Florentin (AAAI Press. Association for the Advancement of Artificial Intelligence, 2011)
    Conference report
    Open Access
    Human environments are challenging for robots, which need to be trainable by lay people and learn new behaviours rapidly without disrupting much the ongoing activity. A system that integrates AI techniques for planning and ...
  • Learning rules from cause-effects explanations 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric; Torras, Carme; Wörgötter, Florentin (2008)
    External research report
    Open Access
    In this work we propose a learning system to learn on-line an action policy coded in rules using natural human instructions about cause-effect relations in currently observed situations. The instructions only on currently ...
  • Learning the semantics of object-action relations by observation 

    Aksoy, Eren Erdal; Abramov, Alexey; Dörr, Johannes; Ning, Kejun; Dellen, Babette; Wörgötter, Florentin (2011-10-28)
    Article
    Open Access
    Recognizing manipulations performed by a human and the transfer and execution of this by a robot is a difficult problem. We address this in the current study by introducing a novel representation of the relations between ...
  • Motion processing with wide-field neurons in the retino-tecto-rotundal pathway 

    Dellen, Babette; Wessel, Ralf; Clark, John W.; Wörgötter, Florentin (2010-02)
    Article
    Open Access
    The retino-tecto-rotundal pathway is the main visual pathway in nonmammalian vertebrates and has been found to be highly involved in visual processing. Despite the extensive receptive fields of tectal and rotundal wide-field ...
  • Object-action complexes: grounded abstractions of sensory-motor processes 

    Krüger, Norbert; Geib, Cristopher; Piater, Justus; Petrick, Ronald; Steedman, Mark; Wörgötter, Florentin; Ude, Ales; Asfour, Tamim; Kraft, Dirk; Omrcen, Damir; Agostini, Alejandro Gabriel; Dillmann, Rudiger (2011)
    Article
    Open Access
    This paper formalises Object-Action Complexes (OACs) as a basis for symbolic representations of sensorimotor experience and behaviours. OACs are designed to capture the interaction between objects and associated actions in ...
  • On-line learning of macro planning operators using probabilistic estimations of cause-effects 

    Agostini, Alejandro Gabriel; Wörgötter, Florentin; Celaya Llover, Enric; Torras, Carme (2008)
    External research report
    Open Access
    In this work we propose an on-line learning method for learning action rules for planning. The system uses a probabilistic approach of a constructive induction method that combines a beam search with an example-based search ...
  • Quick learning of cause-effects relevant for robot action 

    Agostini, Alejandro Gabriel; Wörgötter, Florentin; Torras, Carme (2010)
    External research report
    Open Access
    In this work we propose a new paradigm for the rapid learning of cause-effect relations relevant for task execution. Learning occurs automatically from action experiences by means of a novel constructive learning approach ...
  • Real-time image segmentation on a GPU 

    Alexey, Abramov; Kulvicius, Tomas; Wörgötter, Florentin; Dellen, Babette (2010)
    Conference report
    Open Access
    Efficient segmentation of color images is important for many applications in computer vision. Non-parametric solutions are required in situations where little or no prior knowledge about the data is available. In this ...
  • Real-time segmentation of stereo videos on a portable system with a mobile GPU 

    Abramov, Alexey; Pauwels, Karl; Papon, Jeremie; Wörgötter, Florentin; Dellen, Babette (2012)
    Article
    Open Access
    In mobile robotic applications, visual information needs to be processed fast despite resource limitations of the mobile system. Here a novel real-time framework for model- free spatio-temporal segmentation of stereo ...
  • Segment tracking via a spatiotemporal linking process including feedback stabilization in an n-D lattice model 

    Dellen, Babette; Aksoy, Eren Erdal; Wörgötter, Florentin (2009)
    Article
    Open Access
    Model-free tracking is important for solving tasks such as moving-object tracking and action recognition in cases where no prior object knowledge is available. For this purpose, we extend the concept of spatially synchronous ...