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Foto Frese

Mr.
Prof. Dr.-Ing. Udo Frese

Faculty 03
Mathematics/Computer Science Mathematics/Computer Science

E-Mail: ufrese@informatik.uni-bremen.de

Affiliations | Research Topics | Cooperations | Projects | Scientific Activities | Resources


Affiliations

High-Profile Areas
» Minds Media Machines


DFG Collaborative Projects


Graduate program
» Graduate School System Design (SyDe)


Affiliation to a non-university institute
» German Research Center for Artificial Intelligence (DFKI Bremen)


Affialation to a work group
Code Indication deutsch Indication englisch Faculty Keywords deutsch Keywords englisch
AGEBV  AG Echtzeitbildverarbeitung  Real-Time Computer Vision Group  F03  real time; computer vision; SLAM; photogrammetry; sport robotics; sensor fusion; safe algorithms; collision detection   




Research Topics
Engineering
» Computer Science


Cooperations

Researchers with cooperation
Institution City Category Country of origin
DLR, Institut für Robotik und Mechatronik Oberpfaffenhofen Helmholtz Association Germany
ALdeberan Robotics Paris Company Germany
Leuze electronic Fürstenfeldbruck Company Germany



Projects

Most significant projects
Code Indication deutsch Indication englisch Cooperation partners Funding sources/agencies Term
B-Catch Echtzeitbildverarbeitung und -bewegungsplanung für einen ballfangenden humanoiden Roboter Real-time computer vision and motion planning for a ball-catching humanoid robot DLR / Robotik und Mechatronik Zentrum DFG 2010 - 2012
Graspy Stereovision for Grasping by Humanoid Robots Stereovision for Grasping by Humanoid Robots Aldeberan Robotics EU 2010 - 2012
iGEL Intelligenter Kegelscanner Intelligent Conescanner GöttingKG BMBF 2010 - 2011
A7-{FreePerspective] Aggregation of spatial perceptions into a renderable 3D-representation Aggregation of spatial perceptions into a renderable 3D-representation DFG 2007 - 2014
SAMS Sicherheitskomponente für autonome mobile Serviceroboter Safety component for autonomous mobile service robots Leuze electronic BMBF 2006 - 2009


Agencies that have funded your research during the past five years (public institutions and foundations)
» DFG
» BMBF
» EU (7. FP)


Expertise
Computer Vision:
- real-time optimization of algorithms and implementations
tracking of moving objects
- structure from motion, bundle adjustment, 3D modeling, visual SLAM (Simultaneous Localization and Mapping)
- estimation of 3D geometry
- contour based real-time object detection, shape based real-time object detection

Sensor Fusion & Calibration
-fusion of inertial and visual data
- localization, mapping, navigation, tracking
- low effort calibration methods, calibration on the fly

Kalman Filter, Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Particle Filter, Gaussian-Mixture (GM) Filter, Multi-Hypothesis Filter (MHF/MHT), Interacting Multiple Model (IMM) Filter
Safety

consultancy for safety certification of sensor related algorithms and software (EN 61508)
- safety related algorithms processing sensor data
- software verification of algorithms processing sensor or geometric data
- collisions avoidance (vehicles, robot arms, ..)

Robotics
- collision avoidance
- camera based motion guidance
- behavior engineering
- entertainment robotics, sport robotics

Real-time
- Optimization of existing algorithms and implementations
- SSE, multi-core implementations
- computer vision, tracking, estimation, sensor-fusion
- large least-squares systems



Scientific Activities


Publications (Hyperlink)
Link (extern): http://www.informatik.uni-bremen.de/agebv/UdoFresePublications http://www.informatik.uni-bremen.de/agebv/UdoFresePublications


Most significant Publications
Integrating Generic Sensor Fusion Algorithms with Sound State Representation through Encapsulation of Manifolds
Type
Author(s)Christoph Hertzberg, René Wagner, Udo Frese, Lutz Schröder
Year2013
InInformation Fusion
Year14
Issue1
Pages57–77
Link zu VolltextLink (extern): http://arxiv.org/pdf/1107.1119v1 http://arxiv.org/pdf/1107.1119v1
Article
 
A Precise Tracking Algorithm Based on Raw Detector Responses and a Physical Motion Model
Type
Author(s)O. Birbach, U. Frese
Year2013
InProceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany)
Link zu VolltextLink (extern): http://www.informatik.uni-bremen.de/agebv/downloads/published/birbach_icra_13.pdf http://www.informatik.uni-bremen.de/agebv/downloads/published/birbach_icra_13.pdf
Conference Paper
 
Automatic and Self-Contained Calibration of a Multi-Sensorial Humanoid’s Upper Body
Type
Author(s)O. Birbach, B. Bäuml, U. Frese
Year2012
InProceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, USA
Pages3103–3108
Link zu VolltextLink (extern): http://www.informatik.uni-bremen.de/agebv/downloads/published/birbach_icra_12.pdf http://www.informatik.uni-bremen.de/agebv/downloads/published/birbach_icra_12.pdf
Conference Paper
 
A discussion of simultaneous localization and mapping
Type
Author(s)U. Frese
Year2006
InAutonomous Robots
Year20
Issue1
Pages25-42
Link zu VolltextLink (extern): http://www.informatik.uni-bremen.de/agebv/downloads/published/fresear06.pdf http://www.informatik.uni-bremen.de/agebv/downloads/published/fresear06.pdf
Article
 
Closing a Million-Landmarks Loop
Type
Author(s)U. Frese, L. Schöder
Year2006
InProceedings of the IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems, Beijing (IROS)
Pages5032–5039
Link zu VolltextLink (extern): http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros06.pdf http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros06.pdf
Conference Paper
 


 

First Ph.D. supervisor
Title of the dissertation First name Last name Sex Year
Tracking and Calibration for a Ball Catching Humanoid Robot Oliver Birbach männlich 2012


Resources
 




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