publications home


This site lists my publications on several topics of 2d and 3d computer vision, point cloud processing, surface approximation and their applications for industrial applications (PDF version).
2011-2010-2009-2008-2007-2006-2005-2004-2003
2011
C. Teutsch, D. Berndt and E. Trostmann. A parallel point cloud clustering algorithm for subset segmentation and outlier detection. SPIE Optical Metrology 2011, Proc. Videometrics, Range Imaging, and Applications XI, Vol. 8085 of SPIE Proc.,
p. 808509, 2011.
[PDF]
C. Teutsch. Optische Messtechnik für ein modernes Denkmalmonitoring. Leistungen und Ergebnisse. Jahresbericht 2010. Fraunhofer Institut für Fabrikbetrieb und -automatisierung IFF. pages 28-29. June 2011
C. Teutsch. Optische Qualitätsprüfung von Bauteilen aus Eisenguss. Leistungen und Ergebnisse. Jahresbericht 2010. Fraunhofer Institut für Fabrikbetrieb und -automatisierung IFF. pages 24-25. June 2011
C. Teutsch . Innovative Methoden zur Verarbeitung digitalisierter 3-D-Messdaten. Leistungen und Ergebnisse. Jahresbericht 2010. Fraunhofer Institut für Fabrikbetrieb und -automatisierung IFF. pages 30-31. June 2011
2010
C. Teutsch, D. Berndt, J. Schnee, Matthias Hübner and N. Bachfischer. Optical inspection of laser markings in the production process. Int. Journal of Advanced Science and Technology, 21:3139, August 2010.
[BibTeX]
BibTeX:
@ARTICLE{Teutsch:2010:OILM,
author = {Christian Teutsch and Dirk Berndt and Jost Schnee and Matthias Hübner and Norbert Bachfischer},
title = {Optical Inspection of Laser Markings in the Production Process},
journal = {International Journal of Advanced Science and Technology},
year = {2010},
volume = {21},
pages = {31--39},
month = {August}}
E. Trostmann, C. Teutsch, and Dirk Berndt. Adaptive pre-processing of large point clouds from optical 3D scanners. In Proc. IADIS Int. Conf. Applied Computing (Oct. 14–16, 2010, Timisoara, Romania), pages 4352.
[BibTeX] [PDF]
BibTeX:
@INPROCEEDINGS{Teutsch:2010:APLP,
author = {Erik Trostmann and Christian Teutsch and Dirk Berndt},
title = {Adaptive Pre-Processing of Large Point Clouds from Optical 3D Scanners},
booktitle = {IADIS Int. Conf. Applied Computing 2010},
year = {2010},
pages = {43--52},
address = {Timisoara, Romania 14-16 October 2010}}
C. Teutsch. Assistenzroboter in Laboren von Life-Science-Unternehmen, chapter Kamerasystem zur Objekterkennung und Manipulation, pages 52-62.
Fraunhofer Verlag, 2010.
[BibTeX] [Link]
BibTeX:
@INBOOK{Teutsch:2010:KOM,
chapter = {Kamerasystem zur Objekterkennung und Manipulation},
pages = {52--62},
title = {Assistenzroboter in Laboren von Life-Science-Unternehmen},
publisher = {Fraunhofer Verlag},
year = {2010},
editor = {Fraunhofer IFF},
author = {Christian Teutsch}}
C. Teutsch, D. Berndt, J. Schnee, M. Hübner, and N. Bachfischer. Objective evaluation of laser markings for quality control. Int. Journal of Signal Processing, Image Processing and Pattern Recognition, 3(2):41-49, June 2010.
[BibTeX] [Link]
BibTeX:
@ARTICLE{Teutsch:2010:OEL,
author = {Christian Teutsch and Dirk Berndt and Jost Schnee and Matthias Hübner and Norbert Bachfischer},
title = {Objective Evaluation of Laser Markings for Quality Control},
journal = {Int. Journal of Signal Processing, Image Processing and Pattern Recognition},
year = {2010},
volume = {3},
pages = {41--49},
number = {2},
month = {June},
comment = {ISSN 2005-4254}}
2009
J. Schnee, N. Bachfischer, D. Berndt, M. Hübner, and C. Teutsch. Objective quality evaluation of laser markings for assembly control. In D. Slezak et.Al., editors, Proc. Int. Conf. on Signal Processing, Image Processing and Pattern Recognition (SIP 2009) (Dec. 10–12, 2009, Jeju Island, Korea), vol. 61 of Communications in Computer and Information Science, pages 1724. Springer.
[PDF] [Abstract] [BibTeX]
Abstract: This paper presents a novel method for the objective quality evaluation of letterings at the example of laser markings. The proposed method enables an automated quality evaluation during random inspection of small quantities of frequently changing items. The markings are segmented from the image within a ?rst step and compared against a master piece in the second step. Each character and contour is evaluated with regard to completeness, contrast, edge width and homogeneity according to quality criteria based on the human visual perception. Thus our approach provides an user-independent evaluation method with high repeatability and reproducibility for its industrial application.
BibTeX:
@inproceedings{Teutsch:2009:OQE,
author = {Jost Schnee and Norbert Bachfischer and Dirk Berndt and Matthias Hübner and Christian Teutsch},
title = {Objective Quality Evaluation of Laser Markings for Assembly Control},
booktitle = {Int. Sym. on Signal Processing, Image Processing and Pattern Recognition (SIP 2009) (Dec. 10--12, 2009, Jeju Island, Korea)},
year = {2009},
volume = {61},
pages = {17--24},
series = {Communications in Computer and Information Science},
publisher = {Springer}}
D. Berndt and C. Teutsch. Optische In-Prozess Technologie ermöglicht 100%-ige Bauteilprüfung in der Gießerei. Mitteldeutsche Mitteilungen (VDI), 18(1):28, 2009.
[BibTeX] [Link]
BibTeX:
@article{Berndt:2009:OIT,
author = {D. Berndt and C. Teutsch},
title = {Optische In-Prozess Technologie ermöglicht 100\%-ige Bauteilprüfung in der Gießerei},
journal = {Mitteldeutsche Mitteilungen (VDI)},
year = {2009},
volume = {18},
pages = {28},
number = {1}}
2008
C. Teutsch and M. Maasland. Kombinierte optische Vermessung und Oberflächenprüfung von 3-D-Objekten. In N. Bauer, editor, Handbuch zur Industriellen Bildverarbeitung – Qualitätssicherung in der Praxis, 2nd edition, pages 306–312, Stuttgart, 2008. Fraunhofer Allianz Vision, Fraunhofer IRB Verlag. ISBN 978-3-8167-7386-3.
[Abstract] [BibTeX]
Abstract: Die Qualitätskontrolle eines Objekts muss im Allgemeinen sowohl seine Geometrie als auch die Beschaffenheit seiner Oberfläche umfassen. Zur Zeit wird lediglich eine Art der Prüfung durchgeführt, da, abhängig vom jeweiligen Anwendungsfeld, die Geometriedaten oder die Oberfläche wichtiger erscheinen. Mittlerweile gibt es jedoch einen zunehmenden Bedarf an Lösungen, die die optische Vermessung mit der Oberflächenprüfung in einem Prüfgerät vereinen. Zum einen entstehen immer mehr Produkte, bei denen sowohl die korrekte Geometrie als auch die Oberflächenbeschaffenheit (speziell Beschichtungen von Werkzeugen, Komponenten, Optiken) über ihre korrekte Funktion entscheiden. Zum anderen fordert der zunehmende Konkurrenzdruck von den Unternehmen, ihre Produkte einer immer strengeren Qualitätskontrolle zu unterziehen, so dass über den Markterfolg nun oft Merkmale rein ästhetischer Natur entscheiden, die mit der eigentlichen Funktion des Objekts nichts mehr zu tun haben. Die Fraunhofer-Institute ITWM und IFF haben Lösungen für kombinierte Systeme erarbeitet.
BibTeX:
@inproceedings{Teutsch:2008:KOV,
author = {Christian Teutsch and Mark Maasland},
title = {{K}ombinierte optische {V}ermessung und {O}berflächenprüfung von {3-D}-{O}bjekten},
booktitle = {Handbuch zu Industriellen Bildverarbeitung -- Qualitätssicherung in der Praxis},
journal = {Handbuch zur industriellen Bildverarbeitung - Qualitätssicherung in der Praxis},
publisher = {Fraunhofer IRB Verlag},
year = {2007},
pages = {306--312},
url = {http://www.baufachinformation.de/artikel.jsp?v=223558} }
N. Elkmann, M. Fritzsche, E. Schulenburg, and C. Teutsch. LiSA: Ein Assistenzroboter für den Einsatz in Laborumgebungen zur sicheren Mensch-Roboter-Interaktion. Proc. 5. VDI-Fachtagung ROBOTIK 2008 (June 11–12, Munich). vol. 2012 of VDI-Berichte, pages 227–230. VDI Wissensforum GmbH, VDI Verlag GmbH Düsseldorf, 2008.
[PDF] [Abstract] [BibTeX]
Abstract: Neben den klassischen Anwendungsszenarien für Roboter im industriellen Umfeld entstehen zunehmend neue Einsatzfelder für Serviceroboter und Assistenzsysteme. Dabei teilen sich Roboter und Mensch den Arbeitsraum ohne trennende Schutzeinrichtungen. Die Interaktion von Roboter und Mensch im selben Arbeitsraum wie z.B. im Haushalt oder im Labor erfordert oftmals die Berührung von Mensch und Roboter. Aus dieser direkten Interaktion entsteht jedoch oftmals ein ernst zu nehmendes Gefahrenpotential für den Menschen. Die Sicherheit von Servicerobotern steht aktuell einer nicht eindeutigen Normenlage gegenüber. Da eine für Serviceroboter spezifische C-Norm fehlt kann die Konformität nur durch Konformität mit relevanten Abschnitten aus den A und B Normen nachgewiesen werden. Im Bereich interaktiver mobiler Robotersysteme für das öffentliche Umfeld, den Heim- und auch den Industriebereich, besteht hier akuter Handlungsbedarf.

In diesem Artikel wird am Beispiel des vom BMBF im Rahmen der Leitinnovation Servicerobotik geförderten Verbundprojektes LISA „Assistenzroboter in Laboren von Life-Science-Unternehmen“ eine Serviceroboterentwicklung skizziert, die die Voraussetzungen für eine Zertifizierung für die Mensch-Maschine Interaktion erfüllen soll. Außerdem werden wesentliche Punkte zur aktuellen Normenlage bzgl. der Sicherheit dargestellt.

BibTeX:
@INPROCEEDINGS{Elkmann:2008:LISA,
author = {N. Elkmann and M. Fritzsche and E. Schulenburg and C. Teutsch},
title = {LISA: ein Assistenzroboter für den Einsatz in Laborumgebungen zur sicheren Mensch-Roboter-Interaktion},
booktitle = {Proc. 5. Fachtagung Robotik 2008 (Munich, Germany, 11--12 June)},
year = {2008},
volume = {2012},
series = {VDI-Berichte},
pages = {227--230},
organization = {VDI Wissensforum GmbH},
publisher = {VDI-Verlag GmbH Düsseldorf},
comment = {ISBN 978-3-18-092012-2 ; ISSN 0083-5560}}
O. Lange, C. Teutsch, M. Erhard, and J. Sander. MIROB: Automatic rapid identification of micro-organisms in high through-put. Industrial Robot: An International Journal, 35(4):311–315, August 2008.
[BibTeX] [DOI]
BibTeX:
@article{Lange:2008:MIROB,
author = {Oliver Lange and Christian Teutsch and Marcel Erhard and Jörg Sander},
title = {MIROB: Automatic Rapid Identification of Microorganisms in High Through-put},
journal = {Industrial Robot: An International Journal},
year = {2008},
volume = {35},
pages = {311--315},
number = {4},
month = aug,
comment = {publisher: Emerald Group Publishing Limited},
doi = {10.1108/01439910810876409},
url = {http://www.emeraldinsight.com/10.1108/01439910810876409}}
M. Maasland and C. Teutsch. Kombinierte Geometrie- und Oberflächenprüfung an 3D-Objekten. QZ Qualität und Zuverlässigkeit, 53(2):52–55, 2008.
[Abstract] [Link] [BibTeX]
Abstract: Bei immer mehr industriell gefertigten Produkten entscheiden sowohl die korrekte Geometrie als auch die Oberflächenbeschaffenheit (speziell Beschichtungen von Werkzeugen, Komponenten, Optiken) über ihre korrekte Funktion. Zudem entscheiden über den Markterfolg inzwischen auch oft Merkmale rein ästhetischer Natur, die mit der eigentlichen Funktion des Objekts nichts mehr zu tun haben. Der zunehmende Konkurrenzdruck zwingt die Unternehmen, ihre Produkte einer immer strengeren Qualitätskontrolle zu unterziehen. Systeme, die sowohl eine optische Vermessung als auch eine Oberflächenprüfung der Objekte anbieten, sind deshalb sehr gefragt.

Im Rahmen eines Fraunhofer-internen Forschungsvorhabens haben das Fraunhofer-Institut für Fabrikbetrieb und -automatisierung IFF aus Magdeburg und das Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM aus Kaiserslautern neue Methoden entwickelt, die Synergien zwischen beiden Herangehensweisen ausnutzen. Auf diese Weise lassen sich beide Verfahren hinsichtlich Verarbeitungsgeschwindigkeit und Robustheit deutlich steigern, und neue Anwendungsbereiche können erschlossen werden. Im Projekt wurde durch die Kombination von geometrischer Vermessung und gleichzeitiger Oberflächenuntersuchung von realen dreidimensionalen Objekten die Grundlage für innovative Verfahren geschaffen.

BibTeX:
@article{Maasland:2008:OVO,
author = {Mark Maasland and Christian Teutsch},
title = {Optische Vermessung und Oberflächenprüfung von 3D-Objekten},
journal = {QZ Qualität und Zuverlässigkeit},
year = {2008},
volume = {53},
number = {2},
pages = {52--55},
url = {http://www.qm-infocenter.de/directlink.asp?QZ102538} }

2007

C. Teutsch. Model-based Analysis and Evaluation of Point Sets from Optical 3D Laser Scanners, PhD Thesis, volume 1 of Magdeburger Schriften zur Visualisierung. Shaker Verlag, 2007. ISBN: 978-3-8322-6775-9.
[PDF] [Abstract] [BibTeX] [DOI]
Abstract: The digitalization of real-world objects is of vital importance in various application domains. This method is especially applied in industrial quality assurance to measure the geometric dimension accuracy. Furthermore, geometric models are the very foundation of contemporary three-dimensional computer graphics. In addition to create new models by using a modeling suite, the use of 3D laser scanners has recently become more and more common. To reconstruct objects from laser scan data, usually very large data sets have to be processed. In addition, the generated point clouds usually contain a considerable amount of errors. Therefore, it is necessary to optimize the data for further processing.

Compared to algorithms that interactively manipulate point clouds through an approximation with polygonal meshes, we aim to automatically correct each measurement individually and directly integrate the methods into the measurement process. In addition to traditional methods which usually assume point clouds as unstructured, this work introduces techniques for the extraction of common data structures from optical 3D scanners. Based on this information, procedures are developed to enable automatable procedures of scan data optimization and evaluation. The feasibility of the proposed methods is shown at the example of different real-world objects and industrial applications.

BibTeX:
@book{Teutsch:2007:MAEP,
author = {Christian Teutsch},
title = {Model-based Analysis and Evaluation of Point Sets from Optical 3D Laser Scanners},
publisher = {Shaker Verlag},
school = {Univ. Magdeburg},
year = {2007},
volume = {1},
url = { www.shaker.de/online-Gesamtkatalog/details.asp?ID=3710780&CC=4464&ISBN=3-8322-6775-1} }
C. Teutsch, D. Berndt, E. Trostmann and B. Preim. Adaptive Real-Time Grid Generation from 3D Line Scans for fast Visualization and Data Evaluation. Proc. 11th Int. Conf. on Information Visualisation, pages 177-184, IEEE CS, 2007.
[PDF] [DOI] [Abstract] [BibTeX]
Abstract: This paper presents a method for the real-time generation of grids from 3D line scan data for in-line scan previews and the evaluation of large point clouds derived from different 3D-scanners. By exploiting the underlying measuring principles, we generate regular grids for each scan operation even if the sensor movement is non-linear. These grids are finally used for NURBS patch approximations, which enable the determination of higher order features, e.g. curvature and quality evaluations. Experimental results at the example of different point clouds illustrate the effectiveness of our methods in practice.
BibTeX:
@inproceedings{Teutsch:2007:ARGG,
author = {Christian Teutsch and Dirk Berndt and Erik Trostmann and Bernhard Preim},
title = {Adaptive Real-Time Grid Generation from 3D Line Scans for fast Visualization and Data Evaluation},
booktitle = {Proc. 11th Int. Conf. Information Visualization},
publisher = {IEEE Computer Society},
year = {2007},
pages = {177--184},
doi = {http://dx.doi.org/10.1109/IV.2007.19}}
D. Berndt, R. Mecke, C. Teutsch, and J. Tümler. Assembly Assistance with Augmented Reality: Mobile Measurement and Testing Technology Provides an Overview. IFFOCUS - Interactive Human-Machine, 2:44–46, 2007.
[PDF] [Abstract] [BibTeX]
Abstract: Despite automation and computer controlled assembly lines, humans are still indispensible in the manufacturing and assembly of certain industrial components. However, they occasionally also make mistakes. And these are very expensive sometimes. Now there's an innovative, portable, virtual, just-in-time measurement and testing system from the Fraunhofer Institute for Factory Operation and Automation. In the future, it will help prevent human errors.
BibTeX:
@article{Berndt:2007:MAVT,
author = {Dirk Berndt and Ruediger Mecke and Christian Teutsch and Johannes Tuemler},
title = {Assembly Assistance with Augmented Reality: Mobile Measurement and Testing Technology Provides an Overview},
journal = {IFFOCUS - Interactive Human-Machine},
year = {2007},
papes = {44--46},
volume = {2}}
M. Fritzsche, E. Schulenburg, N. Elkmann, A. Girstl, S. Stiene and C. Teutsch.
Safe Human-Robot Interaction in a Life Science Environment. Proc. IEEE Int. Workshop on Safety, Security, and Rescue Robotics (SSRR07)(Rome, Italy, September 27-29, 2007).
[PDF] [DOI] [Abstract] [BibTeX]
Abstract: In this paper we present the actual stage in the development of a mobile robot assistant that is going to be capable of safe cooperation with humans in a populated environment. The service robot is intented to assist users in biological and pharmaceutical laboratories by carrying out routine jobs such as filling and transportation of microplates. Relevant safety requirements are outlined and a safety concept is devised, which consists of various sensor systems such as laser scanners, thermographic components and artificial skin. An overview of the design of the mobile platform with a robotic arm is provided. Moreover, the approaches to object recognition and intuitive multimodal human-machine interaction using speech and touchpad input are described. All aspects are regarded concerning safety since the robot and humans share a common environment and interact closely.
BibTeX:
@inproceedings{Teutsch:2007:SHRI,
author = {Markus Fritzsche and Erik Schulenburg and Norbert Elkmann and Angelika Girstl and Stefan Stiene and Christian Teutsch},
title = {Safe Human-Robot Interaction in a Life Science Environment},
booktitle = {Proc. IEEE Int. Workshop on Safety, Security, and Rescue Robotics (SSRR 2007) (Rome, Italy, Sep. 27--29, 2007)},
year = {2007},
pages = {1--6},
doi = {http://dx.doi.org/10.1109/SSRR.2007.4381273} }
E. Schulenburg, N. Elkmann, M. Fritzsche, A. Girstl, S. Stiene and C. Teutsch. LiSA: A Robot Assistant for Life Sciences. In KI 2007: Advances in Artificial Intelligence, 30th Annual German Conf. on AI (Osnabrück, Germany, September 10-13, 2007), volume 4667/2007 of Lecture Notes in Computer Science, pages 502–505. Springer Berlin / Heidelberg, 2007.
[PDF (short)] [PDF (extended)] [DOI] [Abstract] [BibTeX]
Abstract: This paper presents a mobile service robot that assists users in biological and pharmaceutical laboratories by carrying out routine jobs such as filling and transportation of microplates. Relevant requirements are outlined and an overview of the design of the mobile platform with a robotic arm is provided. Moreover, the approaches to object recognition and intuitive multimodal human-machine interaction using speech and touchpad input are described. The main focus of the project is aspects of safety since the robot and humans share a common environment and actually cooperate. Hence, a safety concept has been devised, which consists of various sensor systems such as laser scanners, thermographic components and artificial skin.
BibTeX:
@inproceedings{Schulenburg:2007:LISA,
author = {Erik Schulenburg and Norbert Elkmann and Markus Fritzsche and Angelika Girstl and Stefan Stiene and Christian Teutsch},
title = {LiSA: A Robot Assistant for Life Sciences},
booktitle = {KI 2007: Advances in Artificial Intelligence, 30th Annual German Conf. on AI (Osnabrück, Germany, September 10--13, 2007)},
publisher = {Springer Berlin / Heidelberg},
year = {2007},
volume = {4667/2007},
pages = {502--505},
doi = {http://dx.doi.org/10.1007/978-3-540-74565-5_50} }
E. Schulenburg, N. Elkmann, M. Fritzsche, and C. Teutsch. A mobile service robot for life science laboratories. In Proc. 20. Fachgespräch Autonome Mobile Systeme (AMS 2007) (Kaiserslautern, Germany, Oct. 18-19, 2007), Informatik aktuell, pages 315–318. Springer Berlin Heidelberg, 2007.
[PDF] [DOI] [Abstract] [BibTeX]
Abstract: In this paper we presents a project that is developing a mobile service robot to assist users in biological and pharmaceutical laboratories by executing routine jobs such as flling and transporting microplates. A preliminary overview of the design of the mobile platform with a robotic arm is provided. One focus of the project is aspects of safety since the robot and humans will share a common environment. Hence, several safety sensors such as laser scanners, thermographic components and artificial skin are employed. Moreover, the approaches to object recognition are described.
BibTeX:
@inproceedings{Schulenburg:2007:AMS,
author = {Erik Schulenburg and Norbert Elkmann and Markus Fritzsche and Christian Teutsch},
title = {A Mobile Service Robot for Life Science Laboratories},
booktitle = {Proc. 20. Fachgespräch Autonome Mobile Systeme (AMS 2007) (Kaiserslautern, Germany, Oct. 18-19, 2007)},
year = {2007},
series = {Informatik aktuell},
pages = {315--318},
publisher = {Springer Berlin Heidelberg},
comment = {ISBN 978-3-540-74763-5 (Print) 978-3-540-74764-2 (Online)},
doi = {http://dx.doi.org/10.1007/978-3-540-74764-2_48} }
C. Teutsch and M. Maasland. Kombinierte optische Vermessung und Oberflächenprüfung von 3-D-Objekten. In N. Bauer, editor, Handbuch zur Industriellen Bildverarbeitung – Qualitätssicherung in der Praxis, pages 306–312, Stuttgart, 2007. Fraunhofer Allianz Vision, Fraunhofer IRB Verlag. ISBN 978-3-8167-7386-3.
[Abstract] [BibTeX]
Abstract: Die Qualitätskontrolle eines Objekts muss im Allgemeinen sowohl seine Geometrie als auch die Beschaffenheit seiner Oberfläche umfassen. Zur Zeit wird lediglich eine Art der Prüfung durchgeführt, da, abhängig vom jeweiligen Anwendungsfeld, die Geometriedaten oder die Oberfläche wichtiger erscheinen. Mittlerweile gibt es jedoch einen zunehmenden Bedarf an Lösungen, die die optische Vermessung mit der Oberflächenprüfung in einem Prüfgerät vereinen. Zum einen entstehen immer mehr Produkte, bei denen sowohl die korrekte Geometrie als auch die Oberflächenbeschaffenheit (speziell Beschichtungen von Werkzeugen, Komponenten, Optiken) über ihre korrekte Funktion entscheiden. Zum anderen fordert der zunehmende Konkurrenzdruck von den Unternehmen, ihre Produkte einer immer strengeren Qualitätskontrolle zu unterziehen, so dass über den Markterfolg nun oft Merkmale rein ästhetischer Natur entscheiden, die mit der eigentlichen Funktion des Objekts nichts mehr zu tun haben. Die Fraunhofer-Institute ITWM und IFF haben Lösungen für kombinierte Systeme erarbeitet.
BibTeX:
@inproceedings{Teutsch:2007:KOV,
author = {Christian Teutsch and Mark Maasland},
title = {{K}ombinierte optische {V}ermessung und {O}berflächenprüfung von {3-D}-{O}bjekten},
booktitle = {Handbuch zu Industriellen Bildverarbeitung -- Qualitätssicherung in der Praxis},
journal = {Handbuch zur industriellen Bildverarbeitung - Qualitätssicherung in der Praxis},
publisher = {Fraunhofer IRB Verlag},
year = {2007},
pages = {306--312},
url = {http://www.baufachinformation.de/artikel.jsp?v=223558} }

2006

O. Lange, M. Erhard, C. Teutsch, and J. Sander. Roboter sucht nach Mikroben. Laborpraxis, 30(9):28–30, 2006.
[BibTeX]
BibTeX:
@article{Lange:2006:RSM,
author = {Oliver Lange and Marcel Erhard and Christian Teutsch and Jörg Sander},
title = {Roboter sucht nach Mikroben},
journal = {Laborpraxis},
year = {2006},
volume = {30},
number = {9},
pages = {28--30} }
C. Teutsch, D. Berndt, N. Schmidt, and E. Trostmann. Automated geometry measurement of wheel rims based on optical 3D metrology. In P. S. Huang, editor, Proc. Two- and Three-Dimensional Methods for Inspection and Metrology IV (Optics East 2006, October 1-4, 2006, Boston, MA, USA), volume 6382, pages 63820I. SPIE, 2006.
[PDF] [DOI] [Abstract] [BibTeX]
Abstract: One of the economically most important branches is the automotive industry with their component suppliers. The high degree of automation in manufacturing processes, requires automated control and quality assurance equally. In this scope, we present a complex 3D measuring device, consisting of multiple optical 3D sensors, which is designed to capture the geometry of wheel rims. The principal challenge for automated measurements is the variety of rims with respect to design, dimensions and the production flow. Together with connected conveyers, the system automatically sorts good rims without interrupting the manufacturing process. In this work we consider three major steps. At first we discuss the application of the used 3D sensors and the underlying measuring principles for the 3D geometry acquisition. Therefore, we examine the hardware architecture, which is needed to fulfill the requirements concerning to the variety of shapes and to the measuring conditions in industrial environments. In the second part we focus on the automated calibration procedure to integrate and combine the data from the set of sensors. Finally, we introduce the algorithms for the 3D geometry extraction and the mathematical methods which are used for the data preprocessing and interpretation.
BibTeX:
@inproceedings{Teutsch:2006:AGM,
author = {Christian Teutsch and Dirk Berndt and Nico Schmidt and Erik Trostmann},
title = {Automated geometry measurement of wheel rims based on optical 3D metrology},
booktitle = {Proc. Two- and Three-Dimensional Methods for Inspection and Metrology IV (Optics East 2006, October 1-4, 2006, Boston, MA, USA)},
publisher = {SPIE},
year = {2006},
volume = {6382},
number = {1},
pages = {63820I},
doi = {http://dx.doi.org/10.1117/12.685547} }
C. Teutsch, D. Berndt, A. Sobotta, and S. Sperling. A flexible photogrammetric stereo vision system for capturing the 3D shape of extruded profiles. In P. S. Huang, editor, Proc. Two- and Three-Dimensional Methods for Inspection and Metrology IV (Optics East 2006, October 1-4, 2006, Boston, MA, USA), volume 6382, pages 63820M. SPIE, 2006.
[PDF] [DOI] [citeseer] [Abstract] [BibTeX]
Abstract: Modern manufacturing requires continuous quality control to assure a constant quality. For highly automated processes, industrial 2D and 3D image processing methods are often used. In the recent years the need for 3D geometry measuring has increased significantly. Therefore, we present a photogrammetric stereo vision system, including hardware as well as software components, which is designed to measure the 3D shape of complex extruded plastic profiles online. Thus, the main challenge is to capture the profiles while they are moving and deforming at the same time. The profiles are measured at several defined points in time and the geometry of the front surfaces are extracted respectively. This enables us to reconstruct and evaluate the deformation and shaping process. Based on these results we are able to simulate the viscous flow of plastics in the extrusion process. The 3D geometry capturing and the simulation are repeated iteratively to generate reliable simulation input close to reality on the one hand and to optimize the extrusion tool and the involved mechanical parts on the other. Our work is primarily concerned with the 3D data acquisition. Thus, we particularly focus on the stereo matching procedures used and discuss the optimal, system specific configuration.
BibTeX:
@inproceedings{Teutsch:2006:FPSV,
author = {Christian Teutsch and Dirk Berndt and Andreas Sobotta and Silvio Sperling},
title = {A flexible photogrammetric stereo vision system for capturing the 3D shape of extruded profiles},
booktitle = {Proc. Two- and Three-Dimensional Methods for Inspection and Metrology IV (Optics East 2006, October 1-4, 2006, Boston, MA, USA)},
publisher = {SPIE},
year = {2006},
volume = {6382},
number = {1},
pages = {63820M},
doi = {http://dx.doi.org/10.1117/12.685546} }
C. Teutsch, D. Berndt, E. Trostmann and M. Weber. Real-time detection of elliptic shapes for automated object recognition and object tracking. In F. Meriaudeau and K. S. Niel, editors, Proc. Machine Vision Applications in Industrial Inspection XIV (Electronic Imaging 2006, January 15-19, 2006, San Jose, California, USA), volume 6070 of SPIE Proceedings Series, pages 171-179, Bellingham, Washington, 2006. SPIE/IS&T.
[PDF] [DOI] [citeseer] [Abstract] [BibTeX]
Abstract: The detection of varying 2D shapes is a recurrent task for Computer Vision applications, and camera based object recognition has become a standard procedure. Due to the discrete nature of digital images and aliasing effects, shape recognition can be complicated. There are many existing algorithms that discuss the identification of circles and ellipses, but they are very often limited in flexibility or speed or require high quality input data. Our work considers the application of shape recognition for processes in industrial environments and, especially the automatization requires reliable and fast algorithms at the same time. We take a very practical look at the automated shape recognition for common industrial tasks and present a very fast novel approach for the detection of deformed shapes which are in the broadest sense elliptic. Furthermore, we consider the automated recognition of bacteria colonies and coded markers for both 3D object tracking and an automated camera calibration procedure.
BibTeX:
@inproceedings{Teutsch:2006:Ellipse,
author = {Christian Teutsch and Dirk Berndt and Erik Trostmann and Michael Weber},
title = {Real-time detection of elliptic shapes for automated object recognition and object tracking},
booktitle = {Proc. of Machine Vision Applications in Industrial Inspection XIV (Electronic Imaging 2006, January 15--19, 2006, San Jose, California, USA)},
year = {2006},
volume = {6070},
pages = {171--179},
doi = {http://dx.doi.org/10.1117/12.642167} }
C. Teutsch and M. Maasland. Kombinierte optische Vermessung und Oberflächenprüfung von 3D-Objekten. Leitfaden zur Inspektion von Oberflächen mit Bildverarbeitung, 9(1):28-32, May 2006. Fraunhofer Vision.
[BibTeX]
BibTeX:
@article{Teutsch:2006:KOV,
author = {Christian Teutsch and Mark Maasland},
title = {{K}ombinierte optische {V}ermessung und {O}berflächenprüfung von {3-D}-{O}bjekten},
journal = {Leitfaden zur Inspektion von Oberflächen mit Bildverarbeitung},
year = {2006},
volume = {9},
number = {1},
pages = {28--32} }

2005

D. Berndt, A. Fix, T. Müller, E. Trostmann and C. Teutsch. Optical 3D metrology for aiding in the autonomous welding of steel constructions. EOS Conf. on Industrial Imaging and Machine Vision (Munich, Germany, June 13-15, 2005)
[PDF] [Link] [BibTeX]
BibTeX:
@inproceedings{Berndt:2005:OMAA,
author = {Dirk Berndt and Axel Fix and Tino Müller and Erik Trostmann and Christian Teutsch},
title = {Optical {3-D} Metrology for Aiding the Autonomous Welding of Steel Constructions},
booktitle = {EOS Conf. on Industrial Imaging and Machine Vision (Munich, Germany, 13--15 June, 2005)},
year = {2005},
pages = {12--16} }
D. Berndt, A. Fix, E. Trostmann, and C. Teutsch. 3-D image processing as the key for a flexible manufacturing cell for the automated welding of large steel structures. In Armin Gruen and Heribert Kahmen, editors, Proc. of Optical 3-D Measurement Techniques VII (Vienna, Austria, October 3-5, 2005), volume 1, pages 317-326, Vienna, 2005. TU Vienna and ETH Zuerich.
[PDF] [Abstract] [BibTeX]
Abstract: A flexible manufacturing cell for the autonomous welding of large steel structures was developed in the European Commission's Fifth Framework Programme "Growth". The system consists of a mobile robot platform (robot transport vehicle or RTV), which carries all components for autonomous welding and the key technology of optical 3-D metrology, which determines the location of the robot platform and the part to be welded. Simulation software is used to define the logistic processes of path planning, robot motion and the welding process
BibTeX:
@inproceedings{Berndt:2005:3Dimage,
author = {Dirk Berndt and Axel Fix and Erik Trostmann and Christian Teutsch},
title = {{3-D} Image Processing as the Key for a Flexible Manufacturing Cell for the Automated Welding of Large Steel Structures},
booktitle = {Proc. of Optical {3-D} Measurement Techniques VII (Vienna, Austria, October 3--5, 2005)},
year = {2005},
volume = {1},
pages = {317--326} }
O. Lange, C. Teutsch, M. Erhard and J. Sander. Schnelle automatische Identifizierung von Bakterien und Pilzen. Bioforum, 28(11):35-37, November 2005.
[Link] [Abstract] [BibTeX]
Abstract: Die schnelle und sichere Identifikation von Bakterien und Pilzen ist für die heutige Mikrobiologie oberstes Ziel. So sind korrekte Bestimmungen von Krankheiten und das Auffinden neuer Antibiotika oder neuartiger biochemischer Verbindungen notwendig. Viele Mikroorganismen sind noch unbekannt und man erhofft sich neue Medikamente, industriell einsetzbare Enzyme oder bisher unbekannte Rohstoffe für weitergehende Synthesen. Dazu werden viele Mikroorganismen angezüchtet und identifiziert.
BibTeX:
@article{Teutsch:2005:Biohandling,
author = {Oliver Lange and Christian Teutsch and Marcel Erhard and Jörg Sander},
title = {Schnelle automatische Identifizierung von Bakterien und Pilzen},
journal = {Bioforum},
year = {2005},
volume = {28},
number = {11},
pages = {35--37} }
C. Teutsch, D. Berndt, E. Trostmann, and R. Mecke. A hand-guided flexible laser-scanner for generating photorealistically textured 3D data. In Proc. 3D-NordOst 2005, 8. Anwendungsbezogener Workshop zur Erfassung, Verarbeitung, Modellierung und Auswertung von 3D-Daten, pages 37-44. Virtual Working Group 3D
[PDF] [Abstract] [BibTeX]
Abstract: In this work we focus on a new technique for digitizing complex free-form surfaces. Our approach is based on a flexible multi-axial laser scanning device and corresponding software algorithms, which allows us to generate textured 3D models of nearly arbitrary objects. The most important advantage compared to conventional reverse engineering methods is that both, the 3D geometry and the surface texture are captured with high spatial resolution. The proposed technique is applicable for a variety of common measuring tasks, for instance in the fields of quality assurance, cultural heritage, and medical imaging. The feasibility of the system is shown at the example of different objects from the real world.
BibTeX:
@inproceedings{Teutsch:2005:AHGF,
author = {Christian Teutsch and Dirk Berndt and Erik Trostmann and Rüdiger Mecke},
title = {A hand-guided flexible laser-scanner for generating photorealistically textured {3D} data},
booktitle = {Proceedings of {3D}-NordOst 2005},
year = {2005},
pages = {37--44} }
C. Teutsch, D. Berndt, E. Trostmann, and M. Weber. Efficient Reconstruction of NURBS Surfaces for Shape Analysis and Surface Inspection. In A. Gruen and H. Kahmen, editors, Proc. of Optical 3-D Measurement Techniques VII (Vienna, Austria, October 3-5, 2005), volume 1, pages 144-153, Vienna, 2005. TU Vienna, ETH Zuerich.
[PDF] [Abstract] [BibTeX]
Abstract: We present a new approach for the fast visualization and evaluation of large point clouds derived from different structured light 3D-scanners. By using the underlying measuring principle, we generate regular quadrilateral meshes in nearly real-time. These meshes are additionally used for a partial NURBS approximation. Based on the derived parameterized surfaces we are able to calculate and measure higher degree surface features, e.g. curvature and its direction. Finally, we evaluate the efficiency and feasibility of our approaches at the example of a variety of different point clouds.
BibTeX:
@inproceedings{Teutsch:2005:NURBS,
author = {Christian Teutsch and Dirk Berndt and Erik Trostmann and Michael Weber},
title = {Efficient Reconstruction of NURBS Surfaces for Shape Analysis and Surface Inspection},
booktitle = {Proc. of Optical {3-D} Measurement Techniques VII (Vienna, Austria, October 3--5, 2005)},
year = {2005},
volume = {2},
pages = {144--153} }
C. Teutsch, T. Isenberg, E. Trostmann, M. Weber, D. Berndt, and T. Strothotte. Evaluation and Correction of Laser-Scanned Point Clouds. In J.-A. Beraldin, S. F. El-Hakim, A. Grün, and J. S. Walton, editors, Proc. Videometrics VIII (Electronic Imaging 2005, January 16-20, 2005, San Jose, California, USA), vol. 5665 of SPIE Proc. Series, pages 172-183, Bellingham, WA, 2005. SPIE/IS&T.
[PDF] [DOI] [citeseer] [Abstract] [BibTeX]
Abstract: The digitalization of real-world objects is of great importance in various application domains. E. g.in industrial processes quality assurance is very important. Geometric properties of workpieces have to be measured. Traditionally, this is done with gauges which is somewhat subjective and time-consuming. We developed a robust optical laser scanner for the digitalization of arbitrary objects, primary, industrial workpieces. As measuring principle we use triangulation with structured lighting and a multi-axis locomotor system. Measurements on the generated data leads to incorrect results if the contained error is too high. Therefore, processes for geometric inspection under non-laboratory conditions are needed that are robust in permanent use and provide high accuracy as well as high operation speed. The many existing methods for polygonal mesh optimization produce very esthetic 3D models but often require user interaction and are limited in processing speed and/or accuracy. Furthermore, operations on optimized meshes consider the entire model and pay only little attention to individual measurements. However, many measurements contribute to parts or single scans with possibly strong differences between neighboring scans being lost during mesh construction. Also, most algorithms consider unsorted point clouds although the scanned data is structured through device properties and measuring principles. We use this underlying structure to achieve high processing speeds and extract intrinsic system parameters to use them for fast pre-processing.
BibTeX:
@inproceedings{Teutsch:2005:EAC,
author = {Christian Teutsch and Tobias Isenberg and Erik Trostmann and Michael Weber and Thomas Strothotte and Dirk Berndt},
title = {Evaluation and Correction of Laser-Scanned Point Clouds},
booktitle = {Proc. of Videometrics VIII (Electronic Imaging 2005, San Jose, California, USA, 16--20 January, 2005)},
year = {2005},
volume = {5665},
pages = {172--183},
doi = {http://dx.doi.org/10.1117/12.585450} }

2004

C. Teutsch, D. Berndt, E. Trostmann, and M. Weber. Geometry Verification in the Automotive Industry. In Proc. 3D-NordOst 2004, 7. Anwendungsbezogener Workshop zur Erfassung, Verarbeitung, Modellierung und Auswertung von 3D-Daten, pages 51-58. Virtual Working Group 3D, 2004.
[PDF] [Abstract] [BibTeX]
Abstract: Mass production of industrial workpieces requires continuous manufacturing control to ensure constant quality. That is why assembly inspection is used to detect errors at an early stage. Many conventional inspection methods are still in use especially in the automotive and supplier industry. Traditional inspection with gauges is rather subjective and time-consuming. Moreover, such inspection only reaches an OK/NOK decision and measurement of actual dimensions is impossible. Furthermore, specifically controlling and improving the manufacturing process is also impossible. That is why the Fraunhofer IFF developed a measurement system that reliably inspects the geometric metrics of a manufactured item based on given reference data. This system uses structured laser light and the split-beam principle to capture the 3-D shape of a test item. Additionally, a multi-axis locomotor system moves the item in front of the sensors to capture the entire surface. Taking catalytic converters as an example, this article describes the configuration and functionality of the system as well as the algorithms used to verify the resulting 3-D point cloud against a given geometry.
BibTeX:
@inproceedings{Teutsch:2004:GV,
author = {Christian Teutsch and Dirk Berndt and Erik Trostmann and Michael Weber},
title = {Geometry Verification in the Automotive Industry},
booktitle = {Proceedings of {3D}-NordOst 2004},
year = {2004},
pages = {51--58},
doi = {http://dx.doi.org/10.1117/12.685547} }
C. Teutsch, T. Isenberg, E. Trostmann, and M. Weber. Evaluation and Optimization of Laser Scan Data. In T. Schulze, S. Schlechtweg, and V. Hinz, editors, Simulation und Visualisierung 2004, pages 311-322, Erlangen, San Diego, 2004. SCS European Publishing House.
[PDF] [slides] [Abstract] [BibTeX]
Abstract: The digitalization of objects from the real world is of great importance, e. g., in many multimedia applications, in 3D computer graphics, and in industrial measurement. In particular, methods of optical measurement are frequently used in this context. This type of 3D scanning yields a point cloud that may contain errors due to system specific characteristics. Considering the example of an optical laser scanner, the data acquisition process is analyzed in order to identify system parameters that can be used for a qualitative evaluation. Several methods for quantitative analysis of the data are discussed that are partially based on a B-spline approximation of points in the point cloud. Furthermore, methods are presented that are particularly well qualified to detect geometrical characteristics such as curvature and edges. These characteristics and the approximated quality of single points are used to reconstruct a revised and optimized point cloud. Finally, the effectiveness of the proposed methods is evaluated based on two exemplary point cloud data sets.
BibTeX:
@inproceedings{Teutsch:2004:EAO,
author = {Christian Teutsch and Tobias Isenberg and Erik Trostmann and Michael Weber},
title = {{E}valuation and {O}pimization of {L}aser {S}can {D}ata},
booktitle = {Proc. of 15. Conference on Simulation and Visualization (Magdeburg, Germany, 4--5 March, 2004)},
publisher = {SCS European Publishing House},
year = {2004},
pages = {311--322} }

2003

C. Teutsch. Optimierte Rekonstruktion von 3D-Geometrien aus Laserscan-Daten unter Ausnutzung von Information über den Scan-Prozess. Diplom thesis at the Department of Simulation and Graphics, Otto-von-Guericke-University Magdeburg, Germany, 2003.
[PDF] [Abstract] [BibTeX]
Abstract: Die Digitalisierung realer Objekte ist von großer Bedeutung für viele multimediale Anwendungen, die 3D-Computer-Graphik und die industrielle Vermessung von Bauteilen. Eine dominierende Stellung haben dabei insbesondere die Verfahren der optischen Messtechnik eingenommen. Das Ergebnis der Vermessung ist eine Punktewolke, die unter anderem durch systemspezifische Einflüsse fehlerbehaftet ist. Am Beispiel eines optischen Laserscanners werden Systemparameter identifiziert und deren Nutzen für eine qualitative Bewertung und Korrektur der Punktewolken erörtert. Es werden konkrete Verfahren entworfen, die teils auf einer B-Spline-Approximation der Punkte einer Einzelmessungen basieren und die Punktewolke qualitativ untersuchen. Des Weiteren werden Methoden vorgestellt, mit denen geometrische Merkmale, wie beispielsweise Krümmungen und Kanten, in Punktewolken detektiert und diese unter Einbeziehung der Punktequalität optimiert rekonstruiert werden können. Die Implementierung der entsprechenden Mechanismen wird vorgestellt und die Praktikabilität der Verfahren exemplarisch an ausgewählten Punktewolken demonstriert.
BibTeX:
@mastersthesis{Teutsch:2003:OptDiplom,
author = {Christian Teutsch},
title = {{O}ptimierte {R}ekonstruktion von {3D}-{G}eometrien aus {L}aserscan-{D}aten unter {A}usnutzung von {I}nformation über den {S}can-{P}rozess},
school = {Otto-von-Guericke-University Magdeburg, Germany},
year = {2003},
url = {http://wwwisg.cs.uni-magdeburg.de/graphik/pub/files/Teutsch_2003_ORV.pdf} }