TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - IR stereo kinect: improving depth images by combining structured light with IR stereo
T2  - PRICAI 2014: Trends in artificial intelligence : 13th Pacific Rim International Conference on Artificial Intelligence : Gold Coast, QLD, Australia, December 1-5, 2014 : proceedings. (Lecture notes in computer science ; vol. 8862)
N2  - RGB-D sensors such as the Microsoft Kinect or the Asus Xtion are inexpensive 3D sensors. A depth image is computed by calculating the distortion of a known infrared light (IR) pattern which is projected into the scene. While these sensors are great devices they have some limitations. The distance they can measure is limited and they suffer from reflection problems on transparent, shiny, or very matte and absorbing objects. If more than one RGB-D camera is used the IR patterns interfere with each other. This results in a massive loss of depth information. In this paper, we present a simple and powerful method to overcome these problems. We propose a stereo RGB-D camera system which uses the pros of RGB-D cameras and combine them with the pros of stereo camera systems. The idea is to utilize the IR images of each two sensors as a stereo pair to generate a depth map. The IR patterns emitted by IR projectors are exploited here to enhance the dense stereo matching even if the observed objects or surfaces are texture-less or transparent. The resulting disparity map is then fused with the depth map offered by the RGB-D sensor to fill the regions and the holes that appear because of interference, or due to transparent or reflective objects. Our results show that the density of depth information is increased especially for transparent, shiny or matte objects.
Y1  - 2014
SN  - 978-3-319-13559-5 (Print) ; 978-3-319-13560-1 (E-Book)
U6  - http://dx.doi.org/10.1007/978-3-319-13560-1_33
SP  - 409
EP  - 421
PB  - Springer
CY  - München
ER  - 
TY  - CHAP
A1  - Neumann, Tobias
A1  - Ferrein, Alexander
A1  - Kallweit, Stephan
A1  - Scholl, Ingrid
T1  - Towards a mobile mapping robot for underground mines
T2  - 7th Conference of Robotics and Mechatronics : RobMech 2014 : 27th and 28th Nov. 2014, Cape Town
Y1  - 2014
SP  - 1
EP  - 6
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ewert, Daniel
A1  - Reuter, Sebastian
A1  - Ferrein, Alexander
A1  - Jeschke, Sabina
A1  - Lakemeyer, Gerhard
T1  - RoboCup logistics league sponsored by festo: A competitive factory automation testbed
T2  - RoboCup 2013: Robot World Cup XVII :  Eindhoven; Netherlands; 1 July 2013 through 1 July 2013. (Lecture notes in computer science ; 8371)
N2  - A new trend in automation is to deploy so-called cyber-physical systems (CPS) which combine computation with physical processes. The novel RoboCup Logistics League Sponsored by Festo (LLSF) aims at such CPS logistic scenarios in an automation setting. A team of robots has to produce products from a number of semi-finished products which they have to machine during the game. Different production plans are possible and the robots need to recycle scrap byproducts. This way, the LLSF is a very interesting league offering a number of challenging research questions for planning, coordination, or communication in an application-driven scenario. In this paper, we outline the objectives of the LLSF and present steps for developing the league further towards a benchmark for logistics scenarios for CPS. As a major milestone we present the new automated referee system which helps in governing the game play as well as keeping track of the scored points in a very complex factory scenario.
Y1  - 2014
SN  - 978-3-662-44467-2 (Print) 978-3-662-44468-9 (Online)
SP  - 336
EP  - 347
PB  - Springer
CY  - Berlin
ER  - 
TY  - JOUR
A1  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - IR stereo kinect: improving depth images by combining structured light with IR stereo
Y1  - 2014
SP  - 1
EP  - 9
ER  - 
TY  - CHAP
A1  - Kallweit, Stephan
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
A1  - Reichert, Walter
T1  - Mobile Autonome Systeme in der Lehre, am Beispiel der ROS Summer School
T2  - Tagungsband AALE 2014 : das Forum für Fachleute der Automatisierungstechnik aus Hochschulen und Wirtschaft ; 11. Fachkonferenz, Regensburg ; [11. Konferenz für Angewandte Automatisierungstechnik in Lehre und Entwicklung / Ostbayerische Technische Hochschule Regensburg; VFAALE, Verein der Freunde und Förderer der Angewandten Automatisierungstechnik]
Y1  - 2014
SN  - 978-3-8356-7142-3
N1  - Die Textverteilung der elektronischen Zweitveröffentlichung entspricht nicht der der o.g. Verlagsausgabe.
SP  - 157
EP  - 163
PB  - Dt. Industrieverl.
CY  - München
ER  - 
TY  - JOUR
A1  - Beck, Daniel
A1  - Buchleitner, Martin
A1  - Ferrein, Alexander
A1  - Niemüller, Tim
A1  - Steinbauer, Gerald
T1  - Mostly Harmless & AllemaniACs - mixed innovations
Y1  - 2014
SP  - 1
EP  - 8
ER  -