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Seminar: Image Understanding

Dauer2 SWS (4 ECTS)
SemesterWS 2014/2015
VortragendeProf. Michael Beetz, Ferenc Balint-Benczedi, Thiemo Wiedemeyer, Jan-Hendrik Worch
TermineDi. 10:00-12:00
Ort TAB-Gebäude (Am Fallturm 1), Eingang E, Raum 0.31
BemerkungenVeranstaltungsbeginn: 14.10.2014


  • Camera Model | RGBD-Camera Registration
  • 3D-Feature Detectors and Descriptors
  • Hough Transformation
  • Object Recognition
  • Object Detection
  • Object Model Reconstruction
  • Human Detection
  • Probability Theory
  • Tracking Algorithms
  • Watson | RoboSherlock

Nähere Informationen zum Ablauf des Seminars finden sich hier

For a general overview about perception in robotics students are encouraged to look at the following paper :

  • Vision for Robotics, Markus Vincze and Danica Kragic in Foundations and Trends in Robotics Vol. 1, No. 1 (2010) 1–78 [pdf]
Object Detecion and recogniotion
  • Richard Szeliski: Computer Vision:Algorithms and Applications, Chapter 14 (link),
  • Collet Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation
Hough Transform, RANSAC, ICP
  • Wikipedia is normally a great place for geting familiar with these algorithms
  • Papzov et.el. An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes
  • Find more applications of these algorithms in robotics e.g.:
Tracking and Recognitizing Humans
  • Forsyth Computaional Studies of Human Motion: Part 1, Tracking and Motion Synthesispdf
  • Pons-Moll Metric Regression Forests for Human Pose Estimation pdf