Conclusion

Contribution

pose estimation of objects as well as tracking of a person’s upper body posture were developed and evaluated. It could be shown that exploiting the benefits of a calibrated stereo system leads to substantially more powerful systems in terms of accuracy, robustness, and efficiency. This hypothesis was proved both by extensive experiments on synthetic data and real-world experiments in relevant realistic scenarios. Furthermore, the developed systems proved their online applicability for manipulation using visual servoing (see [Vahrenkamp et al., 2008]), and imitation (see [Do et al., 2008]) in numerous demonstrations with the humanoid robot ARMAR-III.