Vision-based Generation of Precedence Graphs

  • Dorian RohnerEmail author
  • Myriel Fichtner
  • Dominik Henrich
Conference paper


The current developments in robotics aim towards a usage in households and small and medium-sized enterprises. In this case it is necessary to coordinate human and robot by describing the task in a common model. Precedence graphs are a possible representation of such a model. The generation of these is tedious especially for non-experts.We contribute a vision-based approach which generates precedence graphs based on a world representation generated by an registered eye-in-hand camera. To achieve this, we describe a world representation based on boundary representation models and a corresponding object recognition method. The results are used to generate the precedence graph by calculating the AND/OR graph as an intermediate step. We evaluate our approach based on several scene models and on a real world application.


Task models Precedence graph Object recognition Boundary representation 


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Copyright information

© Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature 2019

Authors and Affiliations

  • Dorian Rohner
    • 1
    Email author
  • Myriel Fichtner
    • 1
  • Dominik Henrich
    • 1
  1. 1.Lehrstuhl für Robotik und Eingebettete SystemeUniversität BayreuthBayreuthDeutschland

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