http://www.tu-ilmenau.de

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Contact Person

Univ.-Prof. Dr.-Ing. Horst-Michael Groß

Head of department

Phone +49 3677 692858

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INHALTE

Dipl.-Inf. Erik Einhorn

Vita & Research topics

since 05/2015employee at Bosch Germany
2008 - 2015scientific staff member at the Neuroinformatics and Cognitive Robotics Lab
2007 - 2008scientific staff member at the Integrated Hard- and Software Systems Group
since 2005employee at the MetraLabs GmbH, Ilmenau
2004internship at the MetraLabs GmbH, Ilmenau
2000 - 2007study of computer science at the Ilmenau University of Technology


Research topics

  • AlRob-Project
  • CompanionAble-Project
  • Computer-Vision and 3D scene reconstruction
  • Efficient three-dimensional mapping of the robot's environment
  • Autonomous navigation and motion control
  • Development of MIRA: Middleware for Robotic Applications
    MIRA Project: www.mira-project.org

Videos

2D and 3D Adaptive Resolution Grid Mapping using Nd-Trees

We present a novel technique for robot mapping. In contrast to most existing algorithms that use a fixed resolution of the created grid maps, our approach chooses the resolution
of each grid cell adaptively by merging and splitting cells depending on the measurements. The splitting of the cells is based on a statistical measure. In contrast to other approaches the adaption of the resolution is done online during the mapping process itself. Using this approach, the memory consumption and the computational costs for mapping is reduced, while the effective resolution of the created maps is increased.

To represent the maps, we use a novel Nd-Tree structure, a generalization of quadtrees and octrees that allows to subdivide any d-dimensional volume recursively with N^d children per node. Using this data structure our approach can be implemented in a very generic way and allows the creation of 2D, 3D and even higher dimensional maps using the same algorithm.

This video shows our mapping technique while building a 2D map using a laser range finder.

Einhorn, E., Schroeter, Ch., Gross, H.-M.
Finding the Adequate Resolution for Grid Mapping - Cell Sizes Locally Adapting On-the-Fly
in: Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 1843-1848

Attention-Driven Monocular Obstacle Detection and 3D Mapping

The video shows our approach for attention-driven monocular obstacle detection. We use a feature-based approach for real-time monocular scene-reconstruction (shape from motion). Instead of choosing new features uniformly in the images, we use a novel attention-driven approach that guides the feature selection to image areas that provide the most information for mapping and obstacle detection.

Einhorn, E., Schröter, Ch., Gross, H.-M.
Can't Take my Eye on You: Attention-Driven Monocular Obstacle Detection and 3D Mapping.
in: Proc. IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS 2010), Taipeh, Taiwan, pp. 816-821, IEEE 2010

Real-time Monocular Scene-Reconstruction in Public Environments

This video shows our feature-based approach for real-time monocular scene-reconstruction (shape from motion). Our method processes a sequence of images taken by a single camera mounted frontally on a mobile robot. In contrast to other approaches where the camera is moved sidewards our camera moves along its optical axis. This
leads to an ill-posed reconstruction problem. However, using a combination of various techniques, we are able to produce a precise reconstruction that is almost free from outliers and can therefore be used for reliable visual obstacle detection and 3D map building.

Einhorn, E., Schröter, Ch., Gross, H.-M.
Monocular Scene Reconstruction for Reliable Obstacle Detection and Robot Navigation.
in: Proc. 4th European Conference on Mobile Robots (ECMR) 2009, Dubrovnik, pp. 7-12

Einhorn, E., Schröter, Ch., Gross, H.-M.
Monocular Obstacle Detection for Real-world Environments.
in: Proc. 21. Fachgespräch Autonome Mobile Systeme (AMS) 2009, Karlsruhe, pp. 33-40.

Publications

All papers are available for download on the lab's publication page

2012

Einhorn, E.,Langner, T., Stricker, R., Martin, Ch., Gross, H.-M.,
MIRA - Middleware for Robotic Applications.
in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, pp. ...., IEEE 2012

Gross, H.-M., Schröter, Ch., Müller, S., Volkhardt, M., Einhorn, E., Bley, A., Langner, T., Merten, M., Huijnen, C., van den Heuvel, H., van Berlo, A.
Further Progress towards a Home Robot Companion for People with Mild Cognitive Impairment.
to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2012), Seoul, South Korea}, pp. ...., IEEE 2012

Kolarow, A., Eisenbach, M., Schenk, K., Einhorn, E., Debes, K., Gross, H.-M.
Vision-based Hyper-Real-Time Object Tracker for Human-Robot Interaction.
to appear: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, pp. ...., IEEE 2012

Stricker, R., Müller, S., Einhorn, E., Schröter, C., Volkhardt, M., Debes, K., Gross, H.-M.
Interactive Mobile Robots Guiding Visitors in a University Building.
to appear: Proc. 21st IEEE Int. Symposium on Robot and Human Interactive Communication (Ro-Man 2012), Paris, France}, pp. ..., IEEE 2012

Stricker, R., Müller, S., Einhorn, E., Schröter, C., Volkhardt, M., Debes, K., Gross, H.-M.
Konrad and Suse, Two Robots Guiding Visitors in a University Building.
to appear: Proc. Autonomous Mobile Systems (AMS 2012), Stuttgart, Germany, pp. ..., Springer 2012

2011

Einhorn, E., Filzhuth, M., Schroeter, Ch., Gross, H.-M.
Monocular Detection and Estimation of Moving Obstacles for Robot Navigation.
in: Proc. 5th European Conference on Mobile Robots (ECMR) 2011

Einhorn, E., Schroeter, Ch., Gross, H.-M.
Attention-Driven Monocular Scene Reconstruction for Obstacle Detection, Robot Navigation and Map Building.
Robotics and Autonomous Systems, 59 (2011) 5, pp. 296-309, Elsevier

Einhorn, E., Schroeter, Ch., Gross, H.-M.
Finding the Adequate Resolution for Grid Mapping - Cell Sizes Locally Adapting On-the-Fly.
in: Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 1843-1848

Gross, H.-M., Schroeter, Ch., Mueller, S., Volkhardt, M., Einhorn, E., Bley, A., Martin, Ch., Langner, T., Merten, M.
I’ll keep an Eye on You: Home Robot Companion for Elderly People with Cognitive Impairment.
in Proc. IEEE-SMC 2011, to appear

Gross, H.-M., Schroeter, Ch., Mueller, S., Volkhardt, M., Einhorn, E., Bley, A., Martin, Ch., Langner, T., Merten, M.
Progress in Developing a Socially Assistive Mobile Home Robot Companion for the Elderly with Mild Cognitive Impairment.
in Proc. IROS 2011

2010

Einhorn, E., Schröter, Ch., Gross, H.-M.
Can't Take my Eye on You: Attention-Driven Monocular Obstacle Detection and 3D Mapping.
in: Proc. IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS 2010), Taipeh, Taiwan, pp. 816-821

Einhorn, E., Schröter, Ch., Gross, H.-M.
Building 2D and 3D Adaptive-Resolution Occupancy Maps using Nd-Trees.
in: Proc. 55th Int. Scientic Colloquium, Ilmenau, Germany, 2010, pp. 306-311, Verlag ISLE 2010

Einhorn, E., Langner, T.
Pilot - Modular Robot Navigation for Real-World-Applications.
in: Proc. 55th Int. Scientic Colloquium, Ilmenau, Germany, 2010, pp. 382-393, Verlag ISLE 2010

2009

Einhorn, E., Schröter, Ch., Gross, H.-M.
Monocular Scene Reconstruction for Reliable Obstacle Detection and Robot Navigation.
in: Proc. 4th European Conference on Mobile Robots (ECMR) 2009, Dubrovnik, pp. 7-12

Einhorn, E., Schröter, Ch., Gross, H.-M.
Monocular Obstacle Detection for Real-world Environments.
in: Proc. 21. Fachgespräch Autonome Mobile Systeme (AMS) 2009, Karlsruhe, pp. 33-40

Gross, H.-M., Böhme, H.-J., Schröter, Ch., Müller, St., König, A., Einhorn, E., Martin, Ch., Merten, M., Bley, A.
TOOMAS: Interactive Shopping Guide Robots in Everyday Use - Final Implementation and Experiences from Long-term Field Trials.
in: Proc. IEEE/RJS International Conference on Intelligent Robots and Systems (IROS'09), St. Louis, pp. 2005-2012

2008

Einhorn, E., Mitschele-Thiel, A.
RLTE: Reinforcement Learning for Traffic Engineering.
in: Proc. 2nd International Conference on Autonomous Infrastructure, Management and Security (AIMS) 2008, Bremen, LNCS 5127, pp. 120-133

2007

Einhorn E., Schröter, Ch., Böhme, H.-J., Gross, H.-M.
Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection.
in: Proc. 3rd European Conference on Mobile Robots (ECMR) 2007, Freiburg, pp.156-161

Einhorn E., Schröter, Ch., Böhme, H.-J., Gross, H.-M.
Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle.
in: Proc. 52nd Int. Scientific Colloquium, Ilmenau, Germany, 2007, Vol. II, pp. 353-358