<font size=2 face="sans-serif">Hello there,</font>
<br>
<br><font size=2 face="sans-serif">Thanks for the support and comments
guys, I will try to go and develop a little bit further the driver and
whenever I got something nicely structured I will contact you again for
instructions on how to contribute with it. </font>
<br>
<br><font size=2 face="sans-serif">Right now I see myself capable of developing
what Janosch proposes, don't know exactly though how I would implement
the solution from Alex, maybe when I'm a little bit more hands on rock.</font>
<br>
<br><font size=2 face="sans-serif">Enjoy,</font>
<br>
<br><font size=3>Greets!<br>
</font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands <br>
Martin.Azkarate@esa.int | </font><a href=www.esa.int><font size=1 color=#8f8f8f face="Verdana">www.esa.int</font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<br>
<br>
<br>
<table width=100%>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">From:</font>
<td><font size=1 face="sans-serif">Alexander Duda <Alexander.Duda@dfki.de></font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">To:</font>
<td><font size=1 face="sans-serif">Janosch Machowinski <Janosch.Machowinski@dfki.de></font>
<tr>
<td valign=top><font size=1 color=#5f5f5f face="sans-serif">Cc:</font>
<td><font size=1 face="sans-serif">Martin.Azkarate@esa.int, Rock-Dev <rock-dev@dfki.de></font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Date:</font>
<td><font size=1 face="sans-serif">12/07/2012 23:28</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Subject:</font>
<td><font size=1 face="sans-serif">Re: [Rock-dev] set up of camera_firewire</font></table>
<br>
<hr noshade>
<br>
<br>
<br>
<br><font size=3>Am 12.07.2012 um 20:09 schrieb Janosch Machowinski:</font>
<br>
<br><font size=3>Hi Martin,<br>
I found the documentation here :</font><font size=3 color=blue><u><br>
</u></font><a href=http://www.ptgrey.com/support/downloads/documents/Bumblebee2><font size=3 color=blue><u>http://www.ptgrey.com/support/downloads/documents/Bumblebee2</u></font></a><font size=3>
Getting Started Manual.pdf<br>
In the section stereo Image formats<br>
<br>
The problem with one 'image' containing two images is that our<br>
stereo pipeline is not able to process them. We always expect <br>
two separate frames. Therefore my proposal to create a custom<br>
function on the firewire driver like <br>
'getInterlacedStereoImage(base::Frame &right, base::Frame &left)'<br>
and use this function later on in a special task to output the two <br>
images in the 'expected' format. </font>
<br>
<br><font size=3>One possible way to integrate this type of camera into
the current software stack would be to output both frames (left and right)
after each other. The camera would basically running with a virtual frequency
twice the one configured by the user. This would assure that no fundamental
changes are needed to the camera interface (I guess only some new attributes).
Later on to match the left and right frame one could simply chain up another
orogen component matching the frames and outputs them as framepair (this
is how we do it with two cameras).</font>
<br>
<br><font size=3>If you want to integrate the camera into the rock software
stack do not hesitate to ask for any help. </font>
<br>
<br><font size=3>Greets</font>
<br><font size=3>Alex </font>
<br>
<br><font size=3><br>
It would be nice if you could push your current driver version <br>
on a separate branch or mail us a patch set.<br>
Greetings<br>
Janosch<br>
<br>
<br>
<br>
On 12.07.2012 19:46, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote:</font>
<br><font size=2 face="sans-serif">Thanks Janosch,</font><font size=3>
<br>
</font><font size=2 face="sans-serif"><br>
Before explaining what I have done, I would like to ask you where exactly
did you find that Bumblebee documentation that explains it would identify
itself as one camera and transmit per frame two images. </font>
<br><font size=2 face="sans-serif"><br>
So now, I followed your advice, and I used the deinterlacing function from
the libdc1394 library. [<i>Most people in the list may want to skip the
following explanation and go the end of the email</i>]</font><font size=3>
<br>
</font><font size=2 face="sans-serif"><br>
It was not necessary though to create a new task with two out ports because
the deinterlace function does not generate two output separate frames but
instead separates the images in one single frame (putting one image on
top of the other). It's actually the same output as in Coriander, one single
frame, with two separate images. Getting that same output as in Coriander
was my objective so far. Given that, I could use the current deployment
of the camera_firewire orogen component and make the changes (deinterlacing)
directly to the frame each time it was captured. So I eventually narrowed
it down to a call function named retrieveFrame() that is called at the
updateHook of the CameraBaseTask (subclass of CameraTask). The retrieveFrame()
is part of the camera_firewire&camera_interface c++ library that is
used by those tasks. </font><font size=3><br>
</font><font size=2 face="sans-serif"><br>
So once inside retrieveFrame() and after dc1394_capture_dequeue() function
is called I try to deinterlace the frame that I de-queued and then use
that new output to return it in the retrieveFrame() function. However,
in order to make that process work properly there are a few parameters
that have to be changed first such as, video format, channel data depth,
frame format, color coding,...most of them are part of the camera_base.orogen
file properties so they can be changed there or, in the cameraTask initialisation.
However the video_mode has to be changed (to Format7_3) again in the c++
library in the CamFireWire.cpp file (where the retrieveFrame function is).
I also had to make a few more modifications to the retrieveFrame function
to make proper use of the deinterlacing function (which I think it has
at least one bug, apart from a problem of memory allocation for the new
deinterlaced frame).</font><font size=3> <br>
</font><font size=2 face="sans-serif"><b><br>
Anyway, long story short</b>, now I have customised the camera_firewire
library to make it work with a Bumblebee2 stereocamera and output two deinteralced
images in a single frame. I don't know if this can be useful for the rock
community somehow. And in case it is I don't know which would be the best
way to contribute with it. It's really a very small thing but anyway, after
all the help that I receive from this list I would be glad to give something
back.</font><font size=3> <br>
</font><font size=2 face="sans-serif"><br>
Greetings,</font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font><font size=3>
</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size=1 color=blue face="Verdana"><u><br>
</u></font><a href=mailto:Martin.Azkarate@esa.int><font size=1 color=blue face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
| </font><a href="x-msg://12/www.esa.int"><font size=1 color=#8f8f8f face="Verdana"><u>www.esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font><font size=3><br>
<br>
</font>
<table width=100%>
<tr valign=top>
<td width=14%><font size=1 color=#5f5f5f face="sans-serif">From:</font><font size=3>
</font>
<td width=85%><font size=1 face="sans-serif">Janosch Machowinski </font><a href=mailto:Janosch.Machowinski@dfki.de><font size=1 color=blue face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">To:</font><font size=3>
</font>
<td><a href=mailto:Martin.Azkarate@esa.int><font size=1 color=blue face="sans-serif"><u>Martin.Azkarate@esa.int</u></font></a><font size=1 face="sans-serif">,
Rock-Dev </font><a href="mailto:rock-dev@dfki.de"><font size=1 color=blue face="sans-serif"><u><rock-dev@dfki.de></u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Date:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">10/07/2012 19:41</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Subject:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">Re: [Rock-dev] set up of camera_firewire</font></table>
<br>
<p>
<hr noshade><font size=3><br>
<br>
<br>
Hi Martin, <br>
I had a short look at the documentation of the bumblebee.<br>
The camera will identify itself as one camera and transmit <br>
per (firewire) frame two images. In order to use our driver <br>
you must modify it and decode the second image. <br>
<br>
To do so you can use the libdc1394 function<br>
dc1394_deinterlace_stereo()<br>
<br>
Sadly neither the camera_interface nor the camera base <br>
class were designed with such a use case in mind. <br>
Therefore I would suggest you create a second Task<br>
'firewire::StereoCameraTask' <br>
with two output ports (one for each frame).<br>
<br>
Greetings<br>
Janosch<br>
<br>
On 10.07.2012 18:44, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote: </font><font size=2 face="sans-serif"><br>
Hello Janosch,</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
Thanks for the help again. <br>
<br>
Using Coriander I get two camera images, one for each sensor of the stereocam.</font><font size=3>
</font><font size=2 face="sans-serif"><br>
<br>
In the ruby script (attached) I actually start two CameraTasks, one for
each sensor, but when assigning the ID property in the deployment section
of the .orogen file (attached) I have only one ID that I can put (because
the component only detects one camera even though there are two sensors...).
So I don't know if how to get the second output without having two
different camera IDs to assign one to each Task. What I need is to separate
somehow the two outputs that are under the same device, thus under the
same camera ID. Soo far, assigning the same camera ID to both Tasks only
shows one output and the other frame stays grey with "No Image".</font><font size=3><br>
<br>
<br>
Thanks a lot!</font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font><font size=3>
</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size=3 color=blue><u><br>
</u></font><a href=mailto:Martin.Azkarate@esa.int><font size=1 color=blue face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
| </font><a href="x-msg://12/www.esa.int"><font size=1 color=#8f8f8f face="Verdana"><u>www.esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font><font size=3><br>
</font>
<table width=100%>
<tr valign=top>
<td width=14%><font size=1 color=#5f5f5f face="sans-serif">From:</font><font size=3>
</font>
<td width=85%><font size=1 face="sans-serif">Janosch Machowinski </font><a href=mailto:Janosch.Machowinski@dfki.de><font size=1 color=blue face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">To:</font><font size=3>
</font>
<td><a href="mailto:rock-dev@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Date:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">06/07/2012 15:29</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Subject:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">Re: [Rock-dev] set up of camera_firewire</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Sent by:</font><font size=3>
</font>
<td><a href="mailto:rock-dev-bounces@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></table>
<br>
<p>
<br>
<hr noshade><font size=3><br>
<br>
<br>
Hello Martin,<br>
For the changes from stable to master enter the driver<br>
directory and execute <br>
gitk --all<br>
In general I would recommend to have a look at the <br>
git documentation.<br>
<br>
Does the bumblebee output two images if you use coriander ?<br>
<br>
Atm, the CameraTask is intended to be used with a monosensor<br>
camera. The Design is to start one task per camera. <br>
But it should not be a big problem to make it output <br>
two frames from one sensor. <br>
Greetings<br>
Janosch<br>
<br>
On 04.07.2012 18:57, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote: </font><font size=2 face="sans-serif"><br>
Ok!</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
Autoproj update, then build the package again, run the script and got it!
I get camera output now, can somebody tell what were the changes from stable
branch to master branch? (maybe pointing the functions or settings that
were modified...)</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
One last thing, I can only get one camera output, not two, I am using a
stereocam so I should be able to get two separate frames, right? However,
when running the camera_firewire component it shows a list of available
cameras and identifies them with a unique ID. It actually only finds one
camera so I can only assign that unique ID to one of the two cameraTasks.
If I assign that ID to both tasks I get two vizkit displays one with camera
output and the other with the <i>No Signal</i> message with the grey background.</font><font size=3>
</font><font size=2 face="sans-serif"><br>
<br>
The camera_firewire component deployment actually sets two CameraTasks,
one for left camera and another one to right camera (that's why I thought
that I could use it with the stereocam) but maybe it is intended to be
used with two separate monosensor cameras like the AVT Guppy? <br>
<br>
Thanks a lot for the help!</font><font size=3> </font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font><font size=3>
</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size=3 color=blue><u><br>
</u></font><a href=mailto:Martin.Azkarate@esa.int><font size=1 color=blue face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
| </font><a href="x-msg://12/www.esa.int"><font size=1 color=#8f8f8f face="Verdana"><u>www.esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<table width=100%>
<tr valign=top>
<td width=14%><font size=1 color=#5f5f5f face="sans-serif">From:</font><font size=3>
</font>
<td width=85%><font size=1 face="sans-serif">Janosch Machowinski </font><a href=mailto:Janosch.Machowinski@dfki.de><font size=1 color=blue face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">To:</font><font size=3>
</font>
<td><a href="mailto:rock-dev@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Date:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">04/07/2012 15:45</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Subject:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">Re: [Rock-dev] set up of camera_firewire</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Sent by:</font><font size=3>
</font>
<td><a href="mailto:rock-dev-bounces@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></table>
<br>
<p>
<br>
<hr noshade><font size=3><br>
<br>
<br>
Hi Martin,<br>
did you run an autoproj update prior to the autoproj build ?<br>
If not, autoproj won't change the branch.<br>
<br>
Janosch<br>
<br>
On 04.07.2012 13:40, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote: </font><font size=2 face="sans-serif"><br>
Hi Janosch,</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
I changed the overwrites.yml file as you told, autoproj build the package
again and tried that out but I'm still getting the same error...any other
ideas?</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
Thanks for the help,</font><font size=3> </font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font><font size=3>
</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size=3 color=blue><u><br>
</u></font><a href=mailto:Martin.Azkarate@esa.int><font size=1 color=blue face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
| </font><a href="x-msg://12/www.esa.int"><font size=1 color=#8f8f8f face="Verdana"><u>www.esa.int</u></font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<table width=100%>
<tr valign=top>
<td width=14%><font size=1 color=#5f5f5f face="sans-serif">From:</font><font size=3>
</font>
<td width=85%><font size=1 face="sans-serif">Janosch Machowinski </font><a href=mailto:Janosch.Machowinski@dfki.de><font size=1 color=blue face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">To:</font><font size=3>
</font>
<td><a href="mailto:rock-dev@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Date:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">04/07/2012 11:19</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Subject:</font><font size=3>
</font>
<td><font size=1 face="sans-serif">Re: [Rock-dev] set up of camera_firewire</font><font size=3>
</font>
<tr valign=top>
<td><font size=1 color=#5f5f5f face="sans-serif">Sent by:</font><font size=3>
</font>
<td><a href="mailto:rock-dev-bounces@dfki.de"><font size=1 color=blue face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></table>
<br>
<p>
<br>
<hr noshade><font size=3><br>
<br>
<br>
Hi Martin,<br>
which branch of the driver are you using ?<br>
As the line in the error message does not match<br>
master I assume next or stable. <br>
We recently fixed bugs in this driver. <br>
Try switching (only the driver) to master.<br>
To do so add these three lines to <br>
autoproj/overwrites.yml :<br>
overrides:<br>
- drivers/camera_firewire:<br>
branch: master<br>
<br>
Greetings<br>
Janosch<br>
<br>
P.S.: We only tested this driver with a AVT guppy. For this camera it is
working stable.<br>
<br>
On 02.07.2012 18:08, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote: <br>
Hello, <br>
<br>
I have a Bumblebee2 camera that I am trying to use with the camera_firewire
library package and its corresponding orogen component. I am running the
following script: <br>
<br>
<br>
<br>
<br>
<br>
An getting the following error: <br>
<br>
--------- beginning of terminal output ---------------------- <br>
<br>
lrm@ubuntu:~/rock/drivers/orogen/camera_firewire/scripts$ ruby camera_firewire_live.rb
<br>
Found 1 cameras: <br>
<br>
=== begin CamInfo === <br>
display_name: Bumblebee2 BB2-08S2C <br>
interface_id: 0 <br>
interface_type: InterfaceFirewire <br>
current_ip_address: 0 <br>
current_ip_subnet: 0 <br>
part_number: 0 <br>
part_version: 0 <br>
permitted_access: 0 <br>
reachable: 0 <br>
serial_string: <br>
unique_id: 49712223532727488 <br>
=== end CamInfo === <br>
<br>
Press ENTER to exit <br>
<br>
libdc1394 error: Generic failure: in dc1394_video_set_transmission (control.c,
line 953): Could not stop ISO transmission <br>
<br>
[20120702-11:32:28:599] [ERROR] - $PROJECT_NAME::Generic failure <br>
(/home/lrm/rock/drivers/camera_firewire/src/CamFireWire.cpp:617 - bool
camera::CamFireWire::checkHandleError(dc1394error_t) const) <br>
<br>
--------------------- end of terminal output ------------------- <br>
<br>
<br>
Actually the script is completely executed and a vizkit image window is
opened but without any camera output, just a grey window with the message
"no image" in the middle. So when I press enter to exit I get
the libdc1394 error output in the terminal that you can see above. I am
guessing that the error is in some setting of the libdc1394 library, I
have tried complying with the BB2 camera specs and edited a couple of properties
that should be the right ones but I still can't manage to get a camera
output. The camera works and communicates properly with the 1394 interface
(checked it using Coriander). So, can anyone with experience in cameras
with firewire interface give me a hint here? I add a couple more files
in case these are helpful. </font><font size=2 face="sans-serif"><br>
<br>
<br>
<br>
Thanks for the help,</font><font size=3> </font><font size=2 face="sans-serif"><br>
<br>
Martin</font><font size=3> </font><tt><font size=3><br>
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DFKI Bremen<br>
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SAR- & Sicherheitsrobotik<br>
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DFKI Bremen<br>
Robotics Innovation Center<br>
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<br>
Phone: +49 (0)421 178 45-6614<br>
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<br>
DFKI Bremen<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
<br>
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<br>
DFKI Bremen<br>
Robotics Innovation Center<br>
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<br>
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</PRE>