Scene Perception and Recognition for Human-Robot Co-operation. - Nikhil Somani; Emmanuel C. Dean-Leon; Caixia Cai; Alois C. Knoll (ICIAP Workshops, 2013)

Uncalibrated 3D stereo image-based dynamic visual servoing for robot manipulators. - Caixia Cai; Emmanuel C. Dean-Leon; Dario Mendoza; Nikhil Somani; Alois C. Knoll (IROS, 2013)

3D image-based dynamic visual servoing with uncalibrated stereo cameras. - Caixia Cai; Emmanuel C. Dean-Leon; Nikhil Somani; Alois C. Knoll (ISR, 2013)

Scene Perception and Recognition in Industrial Environments for Human-Robot Interaction. - Nikhil Somani; Emmanuel C. Dean-Leon; Caixia Cai; Alois C. Knoll (ISVC (1), 2013)

Human activity recognition in the context of industrial human-robot interaction. - Alina Roitberg; Alexander Clifford Perzylo; Nikhil Somani; Manuel Giuliani; Markus Rickert 001; Alois C. Knoll (APSIPA, 2014)

Uncalibrated stereo visual servoing for manipulators using virtual impedance control. - Caixia Cai; Nikhil Somani; Suraj Nair 002; Dario Mendoza; Alois C. Knoll (ICARCV, 2014)

6D image-based visual servoing for robot manipulators with uncalibrated stereo cameras. - Caixia Cai; Emmanuel C. Dean-Leon; Nikhil Somani; Alois C. Knoll (IROS, 2014)

Object Recognition Using Constraints from Primitive Shape Matching. - Nikhil Somani; Caixia Cai; Alexander Clifford Perzylo; Markus Rickert 001; Alois C. Knoll (ISVC (1), 2014)

Multimodal Human Activity Recognition for Industrial Manufacturing Processes in Robotic Workcells. - Alina Roitberg; Nikhil Somani; Alexander Clifford Perzylo; Markus Rickert 001; Alois C. Knoll (ICMI, 2015)

Multimodal Binding of Parameters for Task-based Robot Programming Based on Semantic Descriptions of Modalities and Parameter Types. - Alexander Clifford Perzylo; Nikhil Somani; Stefan Profanter; Markus Rickert 001; Alois C. Knoll (MuSRobS@IROS, 2015)

An ontology for CAD data and geometric constraints as a link between product models and semantic robot task descriptions. - Alexander Clifford Perzylo; Nikhil Somani; Markus Rickert 001; Alois C. Knoll (IROS, 2015)

Analysis and semantic modeling of modality preferences in industrial human-robot interaction. - Stefan Profanter; Alexander Clifford Perzylo; Nikhil Somani; Markus Rickert 001; Alois C. Knoll (IROS, 2015)

Constraint-based task programming with CAD semantics: From intuitive specification to real-time control. - Nikhil Somani; Andre Gaschler; Markus Rickert 001; Alexander Clifford Perzylo; Alois C. Knoll (IROS, 2015)

Prioritized motion-force control of multi-constraints for industrial manipulators. - Caixia Cai; Nikhil Somani; Markus Rickert 001; Alois C. Knoll (ROBIO, 2015)

Object detection using boundary representations of primitive shapes. - Nikhil Somani; Alexander Clifford Perzylo; Caixia Cai; Markus Rickert 001; Alois C. Knoll (ROBIO, 2015)

Intuitive instruction of industrial robots: Semantic process descriptions for small lot production. - Alexander Perzylo; Nikhil Somani; Stefan Profanter; Ingmar Kessler; Markus Rickert 001; Alois C. Knoll (IROS, 2016)

Task level robot programming using prioritized non-linear inequality constraints. - Nikhil Somani; Markus Rickert 001; Andre Gaschler; Caixia Cai; Alexander Perzylo; Alois C. Knoll (IROS, 2016)

Orthogonal Image Features for Visual Servoing of a 6-DOF Manipulator With Uncalibrated Stereo Cameras. - Caixia Cai; Nikhil Somani; Alois C. Knoll (IEEE Trans. Robotics, 2016)

An Exact Solver for Geometric Constraints With Inequalities. - Nikhil Somani; Markus Rickert 001; Alois C. Knoll (IEEE Robotics Autom. Lett., 2017)

Visual Servoing in a Prioritized Constraint-based Torque Control Framework. - Caixia Cai; Nikhil Somani (ICIS, 2018)

Robust Vehicle Infrastructure Cooperative Localization in Presence of Clutter. - Dhiraj Gulati; Vincent Aravantinos; Nikhil Somani; Alois C. Knoll (FUSION, 2018)

An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints Under Kinematic Constraints and Error Bounds. - Jianjie Lin; Nikhil Somani; Biao Hu 001; Markus Rickert 001; Alois C. Knoll (IROS, 2018)

Image Processing Units on Ultra-low-cost Embedded Hardware: Algorithmic Optimizations for Real-time Performance. - Suraj Nair 002; Nikhil Somani; Artur Grunau; Emmanuel C. Dean-Leon; Alois C. Knoll (J. Signal Process. Syst., 2018)

Constraint-based Approaches for Robotic Systems: from Computer Vision to Real-Time Robot Control (Constraint-basierte Ansätze für Robotersysteme: von Bildverarbeitung bis zu Echtzeitsteuerung für Roboter) - Nikhil Somani (2018)

Adaptive Automatic Robot Tool Path Generation Based on Point Cloud Projection Algorithm. - Xie Zhen; Josh Chen Ye Seng; Nikhil Somani (ETFA, 2019)

SMErobotics: Smart Robots for Flexible Manufacturing. - Alexander Perzylo; Markus Rickert 001; Björn Kahl; Nikhil Somani; Christian Lehmann; Alexander Kuss; Stefan Profanter; Anders Billesø Beck; Mathias Haage; Mikkel Rath Hansen; Malene Tofveson Nibe; Máximo A. Roa; et al. (IEEE Robotics Autom. Mag., 2019)

Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations. - Caixia Cai; Ying Siu Liang; Nikhil Somani; Yan Wu 002 (ICRA, 2020)

Automatic Toolpath Pattern Recommendation for Various Industrial Applications based on Deep Learning*. - Xie Zhen; Nikhil Somani; Yong Jian Samuel Tan; Josh Chen Ye Seng (SII, 2021)

Simplified Robot Programming Framework for a Gearbox Assembly Application. - Nikhil Somani; Lee Li Zhen; Srinivasan Lakshminarayanan; Rukshan Hettiarachchi; Wee Ching Pang; Gerald Seet Gim Lee; Domenico Campolo (ICSR, 2021)

A Collaborative Robotic Approach for Inspection and Anomaly Detection in Industrial Applications. - Miaolong Yuan; Amirul Muhammad; Hettiarachchi Rukshan; Daniel Tan; Nikhil Somani (ICSR, 2021)