9 papers
From Multi-modal Property Dataset to Robot-centric Conceptual Knowledge About Household Objects
Madhura Thosar, Christian A. Mueller, Georg Jaeger +7
Tool-use applications in robotics require conceptual knowledge about objects for informed decision making and object interactions. State-of-the-art methods employ hand-crafted symb…
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
Arturo Gomez Chavez, Qingwen Xu, Christian A. Mueller +2
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is…
Unsupervised Learning of Shape Concepts - From Real-World Objects to Mental Simulation
Christian A. Mueller, Andreas Birk
An unsupervised shape analysis is proposed to learn concepts reflecting shape commonalities. Our approach is two-fold: i) a spatial topology analysis of point cloud segment constel…
Towards Robot-Centric Conceptual Knowledge Acquisition
Georg Jäger, Christian A. Mueller, Madhura Thosar +2
Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge…
What Stands-in for a Missing Tool? A Prototypical Grounded Knowledge-based Approach to Tool Substitution
Madhura Thosar, Christian A. Mueller, Sebastian Zug
When a robot is operating in a dynamic environment, it cannot be assumed that a tool required to solve a given task will always be available. In case of a missing tool, an ideal re…
Visual Object Categorization Based on Hierarchical Shape Motifs Learned From Noisy Point Cloud Decompositions
Christian A. Mueller, Andreas Birk
Object shape is a key cue that contributes to the semantic understanding of objects. In this work we focus on the categorization of real-world object point clouds to particular sha…