Alexander Perzylo

Technische Universität München, München, Bavaria, Germany

Are you Alexander Perzylo?

Claim your profile

Publications (7)4.48 Total impact

  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, an object recognition and pose estimation ap-proach based on constraints from primitive shape matching is presented. Additionally, an approach for primitive shape detection from point clouds using an energy minimization formulation is presented. Each primitive shape in an object adds geometric constraints on the object's pose. An algorithm is proposed to find minimal sets of primitive shapes which are sufficient to determine the complete 3D position and orientation of a rigid object. The pose is estimated using a linear least squares solver over the combination of constraints enforced by the primitive shapes. Exper-iments illustrating the primitive shape decomposition of object models, detection of these minimal sets, feature vector calculation for sets of shapes and object pose estimation have been presented on simulated and real data.
    10th International Symposium, ISVC 2014; 12/2014
  • [Show abstract] [Hide abstract]
    ABSTRACT: The community-based generation of content has been tremendously successful in the World Wide Web - people help each other by providing information that could be useful to others. We are trying to transfer this approach to robotics in order to help robots acquire the vast amounts of knowledge needed to competently perform everyday tasks. RoboEarth is intended to be a web community by robots for robots to autonomously share descriptions of tasks they have learned, object models they have created, and environments they have explored. In this paper, we report on the formal language we developed for encoding this information and present our approaches to solve the inference problems related to finding information, to determining if information is usable by a robot, and to grounding it on the robot platform.
    Proceedings of the Twenty-Third international joint conference on Artificial Intelligence; 08/2013
  • [Show abstract] [Hide abstract]
    ABSTRACT: The community-based generation of content has been tremendously successful in the World-Wide Web - people help each other by providing information that could be useful to others. We are trying to transfer this approach to robotics in order to help robots acquire the vast amounts of knowledge needed to competently perform everyday tasks. RoboEarth is intended to be a web community by robots for robots to autonomously share descriptions of tasks they have learned, object models they have created, and environments they have explored. In this paper, we report on the formal language we developed for encoding this information and present our approaches to solve the inference problems related to finding information, to determining if information is usable by a robot, and to grounding it on the robot platform.
    IEEE Transactions on Automation Science and Engineering 07/2013; 10(3):643-651. DOI:10.1109/TASE.2013.2244883 · 2.16 Impact Factor
  • Source
    Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz
    [Show abstract] [Hide abstract]
    ABSTRACT: The community-based generation of content has been tremendously successful in the World Wide Web - people help each other by providing information that could be useful to others. We are trying to transfer this approach to robotics in order to help robots acquire the vast amounts of knowledge needed to competently perform everyday tasks. RoboEarth is intended to be a web community by robots for robots to autonomously share descriptions of tasks they have learned, object models they have created, and environments they have explored. In this paper, we report on the formal language we developed for encoding this information and present our approaches to solve the inference problems related to finding information, to determining if information is usable by a robot, and to grounding it on the robot platform.
    Proceedings - IEEE International Conference on Robotics and Automation 01/2012; DOI:10.1109/ICRA.2012.6224812
  • [Show abstract] [Hide abstract]
    ABSTRACT: In this work we presented an approach to create 3D object models for robotic and vision applications in a fast and inexpensive way compared to established approaches. By using the RoboEarth system for storing the created object models users have world-wide access to the data and can immediately reuse a model as soon as it was created and uploaded. The approach shows general applicability for different kinds of cameras. In this work this was shown by two example implementations for the recognition process of objects. The quality of the recognition can be verified in the video. Combined with the knowledge saved in the RoboEarth database the objects can also be properly classified.
    Proceedings - IEEE International Conference on Robotics and Automation 01/2012; DOI:10.1109/ICRA.2012.6224858
  • Source
    Article: RoboEarth
    [Show abstract] [Hide abstract]
    ABSTRACT: Humans can use the Internet to share knowledge and to help each other accomplish complex tasks. Until now, robots have not taken advantage of this opportunity. Sharing knowledge between robots requires methods to effectively encode, exchange, and reuse data. In this article, we present the design and first implementation of a system for sharing knowledge between robots.
    IEEE Robotics &amp amp amp Automation Magazine 07/2011; DOI:10.1109/MRA.2011.941632 · 2.32 Impact Factor
  • Source
    IJCAI 2007, Proceedings of the 20th International Joint Conference on Artificial Intelligence, Hyderabad, India, January 6-12, 2007; 01/2007