• Campusvej 55

    5230 Odense M

    Denmark

20072020

Research output per year

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Research Output

2020
2019

Increasing safety by combining multiple declarative rules in robotic perception systems

Ingibergsson, J. T. M., Kraft, D. & Schultz, U. P., 13. Apr 2019, Cyber Physical Systems. Design, Modeling, and Evaluation: 7th International Workshop, CyPhy 2017, Revised Selected Papers. Chamberlain, R., Taha, W. & Törngren, M. (eds.). Springer VS, p. 43-60 (Lecture Notes in Computer Science, Vol. 11267).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Rapid Estimation of Optical Properties for Simulation-Based Evaluation of Pose Estimation Performance

Iversen, T. M., Wilm, J. & Kraft, D., Nov 2019, Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 2030-2037 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Open Access
File
34 Downloads (Pure)
2018

Adapting Parameterized Motions using Iterative Learning and Online Collision Detection

Laursen, J. S., Sørensen, L. C., Schultz, U. P., Ellekilde, L-P. & Kraft, D., 13. Sep 2018, Proceeding of the 2018 IEEE International Conference on Robotics and Automation. IEEE, p. 7587-7594

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Automatic Parameter Learning for Easy Instruction of Industrial Collaborative Robots

Sørensen, L. C., Andersen, R. S., Schou, C. & Kraft, D., Feb 2018, IEEE International Conference on Industrial Technology. IEEE, p. 87-92

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Bootstrapping relational affordances of object pairs using transfer

Fichtl, S., Kraft, D., Krüger, N. & Guerin, F., Mar 2018, In : I E E E Transactions on Cognitive and Developmental Systems. 10, 1, p. 56-71

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
147 Downloads (Pure)

BOP: Benchmark for 6D Object Pose Estimation

Hodan, T., Michel, F., Brachmann, E., Kehl, W., Buch, A. G., Kraft, D., Drost, B., Vidal, J., Ihrke, S., Zabulis, X., Sahin, C., Manhardt, F., Tombari, F., Kim, T-K., Matas, J. & Rother, C., Sep 2018, Computer Vision - ECCV 2018: 15th European Conference, Munich, Germany, September 8–14, 2018, Proceedings, Part III. Ferrari, V., Hebert, M., Sminchisescu, C. & Weiss, Y. (eds.). Springer, Vol. 11207. p. 19-35 (Lecture Notes in Computer Science).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Open Access

Integrating Multi-Purpose Natural Language Understanding, Robot's Memory, and Symbolic Planning for Task Execution in Humanoid Robots

Wächter, M., Ovchinnikova, E., Wittenbeck, V., Kaiser, P., Szedmak, S., Mustafa, W., Kraft, D., Krüger, N., Piater, J. & Asfour, T., 2018, In : Robotics and Autonomous Systems. 99, p. 148-165

Research output: Contribution to journalJournal articleResearchpeer-review

Local point pair feature histogram for accurate 3D matching

Buch, A. G. & Kraft, D., 6. Sep 2018.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Optimisation of Trap Design for Vibratory Bowl Feeders

Mathiesen, S., Sørensen, L. C., Kraft, D. & Ellekilde, L-P., 13. Sep 2018, Proceeding of the 2018 IEEE International Conference on Robotics and Automation. IEEE, p. 3467-3474

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Optimizing sensor placement: A mixture model framework using stable poses and sparsely precomputed pose uncertainty predictions

Iversen, T. M. & Kraft, D., 27. Dec 2018, Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 6652-6659

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Simulation-based optimization of camera placement in the context of industrial pose estimation

Jørgensen, T. B., Iversen, T. M., Lindvig, A. P., Schlette, C., Kraft, D., Savarimuthu, T. R., Roßmann, J. & Krüger, N., Jan 2018, Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Imai, F., Tremeau, A. & Braz, J. (eds.). SCITEPRESS Digital Library, Vol. 5. p. 524-533

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

2017

Declarative Rule-based Safety for Robotic Perception Systems

Mogensen, J. T. I., Kraft, D. & Schultz, U. P., 2017, In : Journal of Software Engineering for Robotics. 8, 1, p. 17-31

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
89 Downloads (Pure)

Explicit Image Quality Detection Rules for Functional Safety in Computer Vision

Mogensen, J. T. I., Kraft, D. & Schultz, U. P., 2017, Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Institute for Systems and Technologies of Information, Control and Communication, Vol. 6. p. 433-444

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Generation of synthetic Kinect depth images based on empirical noise model

Iversen, T. M. & Kraft, D., 2017, In : Electronics Letters. 53, 13, p. 856-858

Research output: Contribution to journalJournal articleResearchpeer-review

Prediction of ICP Pose Uncertainties Using Monte Carlo Simulation with Synthetic Depth Images

Iversen, T. M., Buch, A. G. & Kraft, D., 2017, Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 4640-4647

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Rotational Subgroup Voting and Pose Clustering for Robust 3D Object Recognition

Buch, A. G., Kiforenko, L. & Kraft, D., 2017, Proceedings of the 2017 IEEE International Conference On Computer Vision. IEEE, p. 4137-4145 9 p. (I C C V - International Conference on Computer Vision, Vol. 2017).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Open Access
File
189 Downloads (Pure)

Safety Computer Vision Rules for Improved Sensor Certification

Mogensen, J. T. I., Kraft, D. & Schultz, U. P., 2017, Proceedings of the First IEEE International Conference on Robotic Computing (IRC). IEEE, p. 89-92

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

The Sliced Pineapple Grid Feature for Predicting Grasping Affordances

Thomsen, M. T., Kraft, D. & Krüger, N., 2017, International Joint Conference on Computer Vision, Imaging and Computer Graphics. Braz, J., Magnenat-Thalmann, N., Richard, P., Linsen, L., Telea, A., Battiato, S. & Imai, F. (eds.). Springer, p. 418-438 (Communications in Computer and Information Science, Vol. 693).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

2016

Affordance estimation for vision-based object replacement on a humanoid robot

Mustafa, W., Wächter, M., Szedmak, S., Agostini, A., Kraft, D., Asfour, T., Piater, J., Wörgötter, F. & Krüger, N., 2016, Proceedings of the 47th International Symposium on Robotics. VDE-Verlag, p. 164-172

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

A Semi-Local Surface Feature for Learning Successful Grasping Affordances

Thomsen, M. T., Kraft, D. & Krüger, N., 27. Feb 2016, Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Magnenat-Thalmann, N., Richard, P., Linsen, L., Telea, A., Battiato, S., Imai, F. & Braz, J. (eds.). SCITEPRESS Digital Library, Vol. 3. p. 562-572

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Emotion Recognition Through Body Language Using RGB-D Sensor

Kiforenko, L. & Kraft, D., 2016, Proceedings of the 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. Magnenat-Thalmann, N., Richard, P., Linsen, L., Telea, A., Battiato, S., Imai, F. & Braz, J. (eds.). SCITEPRESS Digital Library, Vol. 3. p. 398-405

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Facilitating Robotic Subtask Reuse by a New Representation of Parametrized Solutions

Buch, J. P., Sørensen, L. C., Kraft, D. & Petersen, H. G., 2016, Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics. Gusikhin, O., Peaucelle, D. & Madani, K. (eds.). SCITEPRESS Digital Library, p. 37-48

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Industrial Assembly Cases

Ellekilde, L-P., Buch, J. P., Iversen, T. M., Laursen, J. S., Mathiesen, S., Sørensen, L. C., Kraft, D., Savarimuthu, T. R., Petersen, H. G., Chrysostomou, D., Hansson, M. & Schou, C., 2016, Syddansk Universitet. Mærsk Mc-Kinney Møller Instituttet. 22 p. (Technical Reports - Maersk Mc-Kinney Moller Institute, University of Southern Denmark; No. 1).

Research output: Monograph/anthology/thesis/reportReportResearch

Open Access
File
164 Downloads (Pure)

Online Action Learning using Kernel Density Estimation for Quick Discovery of Good Parameters for Peg-in-Hole Insertion

Sørensen, L. C., Buch, J. P., Petersen, H. G. & Kraft, D., 2016, Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics. Gusikhin, O., Peaucelle, D. & Madani, K. (eds.). SCITEPRESS Digital Library, p. 166-177

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

2015

Extracting Categories By Hierarchical Clustering Using Global Relational Features

Mustafa, W., Kraft, D. & Krüger, N., 2015, Pattern Recognition and Image Analysis: 7th Iberian Conference, IbPRIA 2015, Santiago de Compostela, Spain, June 17-19, 2015, Proceedings. Paredes, R., Cardoso, J. S. & Pardo, X. M. (eds.). Springer, p. 541-551 (Lecture Notes in Computer Science, Vol. 9117).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Geometric Edge Description and Classification in Point Cloud Data with Application to 3D Object Recognition

Jørgensen, T. B., Buch, A. G. & Kraft, D., 11. Mar 2015, Proceedings of the 10th International Conference on Computer Vision Theory and Applications. Braz, J., Battiato, S. & Imai, F. (eds.). Institute for Systems and Technologies of Information, Control and Communication, Vol. 1. p. 333-340

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Open Access

Identifying relevant feature-action associations for grasping unmodelled objects

Thomsen, M. T., Kraft, D. & Krüger, N., Mar 2015, In : Paladyn. Journal of Behavioral Robotics. 6, 1, p. 85-110

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
306 Downloads (Pure)

Multi-Label Object Categorization Using Histograms of Global Relations

Mustafa, W., Xiong, H., Kraft, D., Szedmak, S., Piater, J. & Krüger, N., 2015, International Conference on 3D Vision (3DV). IEEE, p. 309-317

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

On transferability and contexts when using simulated grasp databases

Jørgensen, J. A., Ellekilde, L-P., Kraft, D., Petersen, H. G. & Krüger, N., Jun 2015, In : Robotica. 33, 05 (Special Issue), p. 1131-1146

Research output: Contribution to journalJournal articleResearchpeer-review

Real-time extraction of surface patches with associated uncertainties by means of Kinect cameras

Olesen, S. M., Lyder, S., Kraft, D., Krüger, N. & Jessen, J. B., 2015, In : Journal of Real-Time Image Processing. 10, 1, p. 105-118

Research output: Contribution to journalJournal articleResearchpeer-review

Shape Dependency of ICP Pose Uncertainties in the Context of Pose Estimation Systems

Iversen, T. M., Buch, A. G., Krüger, N. & Kraft, D., 2015, Computer Vision Systems: 10th International Conference, ICVS 2015, Copenhagen, Denmark, July 6-9, 2015, Proceedings. Nalpantidis et al., L. (ed.). Springer, p. 303-315 (Lecture Notes in Computer Science, Vol. 9163).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Structural Bootstrapping: A Novel, Generative Mechanism for Faster and More Efficient Acquisition of Action-Knowledge

Wörgötter, F., Geib, C., Tamosiunaite, M., Aksoy, E. E., Piater, J., Xiong, H., Ude, A., Nemec, B., Kraft, D., Krüger, N., Wächter, M. & Asfour, T., 2015, In : I E E E Transactions on Autonomous Mental Development. 7, 2, p. 140-154

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
318 Downloads (Pure)

Towards Declarative Safety Rules for Perception Specification Architectures

Mogensen, J. T. I., Schultz, U. P. & Kraft, D., 28. Sep 2015, Proceedings of 6th International Workshop on Domain-Specific Languages and models for Robotic systems (DSLRob-15). 4 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Using Relational Histogram Features and Action Labelled Data to Learn Preconditions for Means-End Actions

Fichtl, S., Kraft, D., Krüger, N. & Guerin, F., 2. Oct 2015, IROS 2015 workshop proceedings. IEEE, 6 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Using surfaces and surface relations in an early cognitive vision system

Kraft, D., Mustafa, W., Popovic, M., Jessen, J. B., Buch, A. G., Savarimuthu, T. R., Pugeault, N. & Krüger, N., Nov 2015, In : Machine Vision & Applications. 26, 7-8, p. 933-954

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
249 Downloads (Pure)
2014

Applying Simulation and a Domain-Specific Language for an Adaptive Action Library

Buch, J. P., Laursen, J. S., Sørensen, L. C., Ellekilde, L-P., Kraft, D., Schultz, U. P. & Petersen, H. G., 20. Oct 2014, Simulation, Modeling, and Programming for Autonomous Robots. Brugali, D., Broenink, J. F., Kroeger, T. & MacDonald, B. A. (eds.). Springer, Vol. 8810. p. 86-97 (Lecture Notes in Computer Science, Vol. 8810).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

A Structured Light Scanner for Hyper Flexible Industrial Automation

Hansen, K., Pedersen, J., Sølund, T., Aanaes, H. & Kraft, D., Dec 2014, 2nd International Conference on 3D Vision (3DV). IEEE, Vol. 1. p. 401-408

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Automatic Grasp Generation and Improvement for Industrial Bin-Picking

Kraft, D., Ellekilde, L-P. & Rytz, J. A., 2014, Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe: Technology Transfer Experiments from the ECHORD Project. Röhrbein, F., Veiga, G. & Natale, C. (eds.). Springer, p. 155-176 (Springer Tracts in Advanced Robotics, Vol. 94).

Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

Enhanced 3D face processing using an active vision system

Lidegaard, M., Larsen, R., Kraft, D., Jessen, J. B., Beck, R., Savarimuthu, T. R., Gramkow, C., Neckelmann, O., Haustad, J. & Krüger, N., 2014, Proceedings of the 9th International Conference on Computer Vision Theory and Applications. Battiato, S. (ed.). SCITEPRESS Digital Library, Vol. 3. p. 466-473

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Learning Spatial Relationships From 3D Vision Using Histograms

Fichtl, S., McManus, A., Mustafa, W., Kraft, D., Krüger, N. & Guerin, F., 2014, Proceedings of the 2014 IEEE International Conference on Robotics and Automation. IEEE, p. 501-508

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

122 Downloads (Pure)

Technologies for the Fast Set-Up of Automated Assembly Processes

Krüger, N., Ude, A., Petersen, H. G., Nemec, B., Ellekilde, L-P., Savarimuthu, T. R., Jørgensen, J. A., Fischer, K., Buch, A. G., Kraft, D., Mustafa, W., Aksoy, E. E., Papon, J., Kramberger, A. & Worgotter, F., Nov 2014, In : Kuenstliche Intelligenz. 28, 4, p. 305-313

Research output: Contribution to journalJournal articleResearchpeer-review

Towards Error Handling in a DSL for Robot Assembly Tasks

Laursen, J. S., Buch, J. P., Sørensen, L. C., Kraft, D., Petersen, H. G., Ellekilde, L-P. & Schultz, U. P., 2014. 5 p.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Open Access
2013

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

Guerin, F., Krüger, N. & Kraft, D., 2013, In : IEEE Transactions on Autonomous Mental Development. 5, 1, p. 18-45

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
337 Downloads (Pure)

Extended 3D Line Segments from RGB-D Data for Pose Estimation

Buch, A. G., Jessen, J. B., Kraft, D., Savarimuthu, T. R. & Krüger, N., 2013, Image Analysis: 18th Scandinavian Conference, SCIA 2013, Espoo, Finland, June 17-20, 2013. Proceedings. Kämäräinen, J-K. & Koskela, M. (eds.). Springer Publishing Company, p. 54-65 (Lecture Notes in Computer Science, Vol. 7944).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Learning Object Relationships which determine the Outcome of Actions

Fichtl, S., Alexander, J., Kraft, D., Rytz, J. A., Krüger, N. & Guerin, F., 2013, In : Paladyn: Journal of Behavioral Robotics. 3, 4, p. 188-199

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
182 Downloads (Pure)

Learning Spatial Relations between Objects From 3D Scenes

Fichtl, S., Alexander, J., Guerin, F., Mustafa, W., Kraft, D. & Krüger, N., 2013, IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) . IEEE, p. 1-2

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

On Transferability of grasp-affordances in data-driven grasping

Rytz, J. A., Ellekilde, L-P., Kraft, D., Petersen, H. G. & Krüger, N., 11. Aug 2013, Proceedings of the RAAD 2013. 9 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

File
180 Downloads (Pure)

Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces

Buch, A. G., Kraft, D., Kämäräinen, J-K. & Krüger, N., 2013, Proceedings of the 8th International Conference on Computer Vision Theory and Applications. SCITEPRESS Digital Library, p. 105-111

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Pose Estimation using Local Structure-Specific Shape and Appearance Context

Buch, A. G., Kraft, D., Kämäräinen, J-K., Petersen, H. G. & Krüger, N., 2013, IEEE International Conference on Robotics and Automation (ICRA). IEEE, p. 2080-2087 8 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review