@article{VogtKruegerSchmidtetal.2004, author = {Vogt, F. and Kr{\"u}ger, S. and Schmidt, Jochen and Paulus, D. and Niemann, H. and Hohenberger, W. and C. H., Schick}, title = {Light Fields for Minimal Invasive Surgery Using an Endoscope Positioning Robot}, series = {Methods of Information in Medicine}, journal = {Methods of Information in Medicine}, year = {2004}, abstract = {OBJECTIVES: To generate a fast and robust 3-D visualization of the operation site during minimal invasive surgery. METHODS: Light fields are used to model and visualize the 3-D operation site during minimal invasive surgery. An endoscope positioning robot provides the position and orientation of the endoscope. The a priori un-known transformation from the endoscope plug to the endoscope tip (hand-eye transformation) can either be determined by a three-step algorithm, which includes measuring the endoscope length by hand or by using an automatic hand-eye calibration algorithm. Both methods are described in this paper and their respective computation times and accuracies are compared. RESULTS: Light fields were generated during real operations and in the laboratory. The comparison of the two methods to determine the unknown hand-eye transformation was done in the laboratory. The results which are being presented in this paper are: rendered images from the generated light fields, the calculated extrinsic camera parameters and their accuracies with respect to the applied hand-eye calibration method, and computation times. CONCLUSION: Using an endoscope positioning robot and knowing the hand-eye transformation, the fast and robust generation of light fields for minimal invasive surgery is possible.}, language = {en} } @inproceedings{ZobelDenzlerHeigletal.2001, author = {Zobel, M. and Denzler, J. and Heigl, B. and N{\"o}th, E. and Paulus, D. and Schmidt, Jochen and Stemmer, G.}, title = {MOBSY: Integration of vision and dialogue in service robots}, series = {Computer Vision Systems, Proceedings Second International Workshop, ICVS 2001, Vancouver, Canada}, booktitle = {Computer Vision Systems, Proceedings Second International Workshop, ICVS 2001, Vancouver, Canada}, year = {2001}, abstract = {MOBSY is a fully integrated autonomous mobile service robot system. It acts as an automatic dialogue based receptionist for visitors of our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. Especially the computer vision and dialogue aspects are of main interest from the pattern recognition's point of view. To summarize shortly, the involved techniques range from object classification over visual self-localization and recalibration to object tracking with multiple cameras. A dialogue component has to deal with speech recognition, understanding and answer generation. Further techniques needed are navigation, obstacle avoidance, and mechanisms to provide fault tolerant behavior. This contribution introduces our mobile system MOBSY. Among the main aspects vision and speech, we focus also on the integration aspect, both on the methodological and on the technical level. We describe the task and the involved techniques. Finally, we discuss the experiences that we gained with MOBSY during a live performance at the 25th anniversary of our institute}, language = {en} } @article{ZobelDenzlerHeigletal.2003, author = {Zobel, M. and Denzler, J. and Heigl, B. and N{\"o}th, E. and Paulus, D. and Schmidt, Jochen and Stemmer, G.}, title = {MOBSY: Integration of vision and dialogue in service robots}, series = {Machine Vision and Applications}, journal = {Machine Vision and Applications}, year = {2003}, abstract = {This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics. Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we gained with MOBSY during a live performance at our institute.}, language = {en} } @article{ZobelDenzlerHeigletal.2001, author = {Zobel, M. and Denzler, J. and Heigl, B. and N{\"o}th, E. and Paulus, D. and Schmidt, Jochen and Stemmer, G.}, title = {Demonstration von Bildverarbeitung und Sprachverstehen in der Dienstleistungsrobotik}, series = {Autonome Mobile Systeme}, journal = {Autonome Mobile Systeme}, year = {2001}, abstract = {Die typischerweise gew{\"u}nschten Einsatzgebiete f{\"u}r Dienstleistungsroboter, z. B. Krankenh{\"a}user oder Seniorenheime, stellen sehr hohe Anforderungen an die Mensch-Maschine-Schnittstelle. Diese Erfordernisse gehen im Allgemeinen {\"u}ber die M{\"o}glichkeiten der Standardsensoren, wie Ultraschalloder Infrarotsensoren, hinaus. Es m{\"u}ssen daher erg{\"a}nzende Verfahren zum Einsatz kommen. Aus der Sicht der Mustererkennung sind die Nutzung des Rechnersehens und des nat{\"u}rlichsprachlichen Dialogs von besonderem Interesse. Dieser Beitrag stellt das mobile System MOBS Y vor. MOBS Y ist ein vollkommen integrierter autonomer mobiler Dienstleistungsroboter. Er dient als ein automatischer dialogbasierter Empfangsservice f{\"u}r Besucher unseres Instituts. MOBSY vereinigt vielf{\"a}ltige Methoden aus unterschiedlichsten Forschungsgebieten in einem eigenst{\"a}ndigen System. Die zum Einsatz kommenden Methoden aus dem Bereich der Bildverarbeitung reichen dabei von Objektklassifikation {\"u}ber visuelle Selbstlokalisierung und Rekalibrierung bis hin zu multiokularer Objektverfolgung. Die Dialogkomponente umfasst Methoden der Spracherkennung, des Sprachverstehens und die Generierung von Antworten. Im Beitrag werden die zu erf{\"u}llende Aufgabe und die einzelnen Verfahren dargestellt.}, language = {de} }