Chih-Hsuan (Owen) Chen

Multimodal modelling and motion prediction in dynamic environments

Principle Supervisor
Dr.-Ing. Birgit Graf
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA

Collaboration partners:

  • Universität Hamburg
  • Fondazione Istituto Italiano Di Tecnologia

Competence Area: Embodiment


Tracking the precise location of humans and dynamic obstacles allows service robots to distinguish between places where they can operate safely and others, where collisions and thus safety-critical situations are likely to occur. Therefore, in this project, vision-based environment modelling, that is 3-D point cloud generation as well as geometric mapping will be integrated with other perception modalities such as sound-source localisation and touch sensors. Furthermore, motion tracking and prediction functions will be developed based on the integrated sensor input which will be provided in real-time to higher-level, cognitive modules.

Expected Results

Methods to efficiently process and store this enhanced environment map will be designed and implemented, that are specifically suitable for real-time collision avoidance. Besides providing functionality to give fast feedback on the risk level of planned actions, directly affecting behaviour by prohibiting dangerous actions, sophisticated real-time 3-D environment maps will also form the input for higher-level, cognitive safety modules, enabling them to make faster decisions based on more precise predictions.


Owen C.H. Chen has attended Fraunhofer IPA since June, 2017 as PhD Fellow and focuses on research of perception for service robotics.
He has 2 years plus of experience in industrial robotics and 3 year plus of experience in humanoid robotics. He also holds Marie Curie Fellowship as an Early Stage Researcher.


Email : chih-hsuan.chen [at]

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