Research Topics

• Model-Based Image Interpretation

• Gaze Tracking, Focus of Interest

• Color Detection, Adaptive Skin Color Classification

• Automatic Model Inference

• Descriptor Based 3D Localization

• Hybrid Approach 3D Localization

• Multimodal 3D Localization

• Object Tracking for Manipulation Tasks

• Hand Tracking in Combination With Object Localization

• Visual SLAM

Current Research Projects

• CoP : The project aims at the unification of vision-based sensing in the CoP (Cognitive Perception) in the learning and planning system. On the one hand, CoP manages the interpretation of different kinds of sensors and on the other hand it automatically acquires and maintains the knowledge about the world and objects in the world. CoP selects sensors and sensor interpretation algorithms based on their expected utility. To this end, CoP learns and improves intersensor and inter-algorithmic models for method seleciton from experience. Especially the vision system, the major sensor we use, provides several automatic model improving techniques. Improved models accelerate the perception process and provide more robust results.

Teaching General

Selected Publications

• Ulrich Klank , Dejan Pangercic , Radu Bogdan Rusu , Michael Beetz , Real-time CAD Model Matching for Mobile Manipulation and Grasping, 2009, 9th IEEE-RAS International Conference on Humanoid Robots,

  (BibTeX) (PDF)

• Michael Beetz , Freek Stulp , Piotr Esden-Tempski , Andreas Fedrizzi , Ulrich Klank , Ingo Kresse , Alexis Maldonado , Federico Ruiz-Ugalde , Generality and Legibility in Mobile Manipulation, 2009, Autonomous Robots Journal (Special Issue on Mobile Manipulation),

  (BibTeX) (PDF)

• Zoltan-Csaba Marton , Radu Bogdan Rusu , Dominik Jain , Ulrich Klank , Michael Beetz , Probabilistic Categorization of Kitchen Objects in Table Settings with a Composite Sensor, 2009, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

  (BibTeX) (PDF)

• Muhammad Zeeshan Zia, Ulrich Klank , Michael Beetz , Acquisition of a Dense 3D Model Database for Robotic Vision, 2009, International Conference on Advanced Robotics (ICAR),

  (BibTeX) (PDF)

• Ulrich Klank , Muhammad Zeeshan Zia, Michael Beetz , 3D Model Selection from an Internet Database for Robotic Vision, 2009, International Conference on Robotics and Automation (ICRA),

  (BibTeX) (PDF)

• Li Sun, Ulrich Klank , Michael Beetz , EYEWATCHME - 3D Hand and object tracking for inside out activity analysis, 2009, IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2009. CVPR 2009.,

  (BibTeX)

• Ulrich Klank , N. Padoy, H. Feussner, N. Navab, Automatic feature generation in endoscopic images, 2008, International Journal of Computer Assisted Radiology and Surgery,

  (BibTeX)