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DAFT & RGB-D Texture Feature Evaluation toolkit

These RGBD Datasets can be used to evaluate texture feature detectors & descriptors that use the depth information provided by a Kinect camera.

Parts of it were created for the publication [Distinctive Texture Features from Perspective-Invariant Keypoints] (implementation at ).
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            [abstract] => I started working as a research assistant at the Intelligent Autonomous Systems Group in December 2011 and I am mainly cooperating with Dejan Pangeric, Dipl.-Ing. I am mostly involved in robotics perception, however, I have very broad interests in robotics and machine learning fields. I am currently undertaking Master of Robotics, Cognition and Intelligence at Technical University of Munich.
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I'm a postdoctoral researcher supported from ERASMUS MUNDUS BEAM scholarship of European Commission. I got my Ph.D degree from the department of Mechanical and Aerospace Engineering of Seoul National University (advised by Prof. Frank C. Park) and worked as a postdoctoral researcher for Humanoid Robot Research Center (HUBO Lab) in 2011.
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Before I joined the Intelligent Autonomous Systems Group I studied Computer Science at TUM. I'm currently working on the import of knowledge from the world wide web into the knowledge base of our mobile robots. In particular, my current research focuses on understanding natural-language, in order to enable a robot to autonomously acquire new high-level skills by querying web pages such as eHow.com or wikiHow.com.
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            [abstract] => We are looking for the students to work on the following topics as within their B.Sc., M.Sc, Guided Research projects:

	*  In-hand object of daily use modelling (together with Slobodan Ilic)
	*  Robust and accurate object of daily use tracking for mobile manipulation ([decription], together with Sorin Grigorescu)
	*   Knowledge modeling for robot indoor mapping ([description], supervised by Ziyuan Liu)
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I obtained the Doctor in computer science from TUM in November 2011 for my thesis titled Knowledge Processing for Autonomous Robots. Previously, I studied Electrical Engineering and Information Technology at the RWTH Aachen, Germany, and Robotics and Embedded Systems at the ENSTA in Paris, France. I spent one year as an intern at the Accenture Technology Labs in …
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            [abstract] => Professors

	*  Prof. Dr. Bernd Radig
	*  Prof. Dr. Carsten Steger

Prof. Michael Beetz has moved to the University of Bremen in Summer 2012, and parts of the group will follow over the course of the next months. The website of the IAS group in Bremen can be found at .
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            [abstract] => Currently we have four robot platforms in our lab: PR2, TUM Rosie, iCub and Bender. The PR2 was provided by the Willow Garage Beta Program. TUM Rosie has been built around the KUKA-omnidirectional base and KUKA-lightweight LWR-4 arms. The iCub is a small-size humanoid robot being designed by the RobotCub Consortium, consisting of several European universities. B21 is the alumnus of robots in our robot-park.
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            [abstract] => Vorlesungen

	*  Technical Cognitive Systems (IN2222)
	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)

Seminar

	*  Master-Seminar: Robot Learning (IN2107, IN8901, IN4611)
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	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)
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    [creator] => Prof. Dr. Carsten Steger
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            [abstract] => Lectures

	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)
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    [creator] => Moritz Tenorth
    [user] => tenorth
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            [tenorth] => Moritz Tenorth
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            [abstract] => Seminar

	*  Master-Seminar - Wissensrepräsentation in der künstlichen Intelligenz (IN2107, IN8901, IN4611)
	*  Master-Seminar - Mensch-Roboter Interaktion (IN2107, IN8901, IN4532)

Praktikum

	*  Master-Praktikum - Sensorgestützte intelligente Umgebungen (IN2106, IN8902, IN4053)
	*  Master-Praktikum - KI-basierte Robotersteuerung (IN2106, IN8902, IN4056)
	*  Master-Praktikum - Innovation@CoTeSys (IN2106, IN8902, IN4109)
        )

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            [sturmju] => Juergen Sturm
            [lohr] => Quirin Lohr
            [tenorth] => Moritz Tenorth
            [jain] => Dominik Jain
            [kirsch] => Dr. Alexandra Kirsch
            [weikersd] => David Tim Weikersdorfer
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            [abstract] => Large-scale integrative projects

	*  cotesys: Cognition for Technical Systems

Task-level planning and execution

	*  cram: Cognitive Robot Abstract Machine
	*  para: Planning for Adaptive Robot Assistance
	*  cogito: Plan-based control of robotic agents
        )

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            [tenorth] => Moritz Tenorth
            [jain] => Anand Dominik Jain
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    [title] => Software and data sets
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            [abstract] => Open-source software packages

	*  ROS stacks and packages: Contributions of the IAS Group to the Robot Operating System (ROS)
	*  The ProbCog Toolbox for Statistical Relational Learning and Reasoning: ProbCog designs and implements a software suite for statistical relational learning that is publicly available for download.
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    [creator] => Dejan Pangercic
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            [isikm] => Mehmet Can Isik
            [moesenle] => Lorenz Mösenlechner
            [hausman] => Karol Hausman
            [blodow] => Nico Blodow
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    [title] => Internal IAS Workshop on Knowrob, CRAM and Semantic Perception
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            [abstract] => NOTE: The content is subject to frequent changes, please check back regularly.

Purpose

The purpose of this workshop is to introduce some of the core technologies developed in the IAS group over the last years for knowledge-enabled service robotics to our freshmen, colleagues from Bremen and guests.
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    [creator] => Moritz Tenorth
    [user] => tenorth
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            [id] => events:knowledge-workshop-iros2011
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            [extra] => 
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    [title] => IROS 2011 Workshop: Knowledge Representation for Autonomous Robots
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            [abstract] => Over the past years, computers have made significant progress in mining knowledge from the web, aggregating information from different sources and using this knowledge to answer complex queries. Watson's recent victory over human jeopardy players impressively shows that very complex tasks in terms of knowledge acquisition, question answering, and natural language understanding can be solved nowadays.
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    [creator] => Dejan Pangercic
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    [title] => ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics
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            [abstract] => What: 

ICRA 2012 WORKSHOP 

Semantic Perception and Mapping for Knowledge-enabled Service Robotics (with interactive session and demonstrations) 

Where: 

ICRA 2012, St. Paul, Minnesota, USA (Room #9, River Centre) 

When: 

May 18th, 2012

Website: 


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            [abstract] => Summer schools and tutorials

	*  CoTeSys-ROS Fall School on Cognition Enabled Mobile Manipulation (November 2010)
	*  Player Summer School on Cognitive Robotics (August 2007)

Workshops

	*  Internal IAS Workshop on KnowRob, CRAM and Perception  (June 2012)
	*  ICRA 2012: Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics (May 2012)
	*  IROS 2011: Workshop on Knowledge Representation for Autonomous Robots (October 2011)
	*  euRobotics 2011: RGB-D Workshop on 3D P…
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Persönlicher Status und Werkzeuge

Home Events RGB-D Workshop on 3D Perception in Robotics

RGB-D Workshop on 3D Perception in Robotics

Date and Venue

1PM - 6PM, April 8, 2011, Västerås, Sweden.

Part of the European Robotics Forum 2011 hosted by Robotdalen.

Abstract

In the past year, novel camera systems like Microsoft's Kinect that provide both color and dense depth images became readily available. There are great expectations that such systems will lead to a boost of new applications in the field of 3D perception which is particularly relevant for robots operating in unstructured environments and under real-world conditions. Research fields that are expected to benefit from RGB-D-based perception include 3D mapping and localization, path planning, navigation, object recognition, people tracking, activity recognition, and human-robot interaction.

The goal of this workshop is to bring together researchers from robotics and computer vision to present and discuss current approaches on 3D perception using RGB-D sensors in robotics. The key outcomes of the workshop will be to establish an overview over a) the currently available sensor hardware, b) the state-of-the-art in 3D perception, c) the possible applications in industry, and d) stimulate a discussion of the key challenges and opportunities of RGB-D-based perception in robotics.

Topics and Submissions

We solicit one-page A4 paper abstract submissions, optionally accompanied by a video both of which will be reviewed by the program committee. Topics of interest include (but are not limited to):

  • sensor technology, calibration and data pre-processing,
  • RGB-D interest points and feature descriptors,
  • SLAM and semantic mapping,
  • object recognition and localization,
  • people tracking and activity recognition,
  • navigation,
  • industrial applications.

We would especially like to encourage live demos either during the talks or in a special demo session and plan to foster the discussion between the participants in a plenary discussion.

Submission process is closed, thank you very much for a large amount of excellent submissions.

Schedule

1:00PM Welcome/Introduction (5min)

1:05PM Invited talk: Richard Newcombe - Live Dense Reconstruction with a Single Moving Camera [ presentation ]

1:35PM Contributed Paper: FAB-MAP 3D: Topological Mapping with Spatial and Visual Appearance (R. Paul and P. Newman) [ 01_rohan.pdf ] [presentation]

1:55PM Contributed Paper: A test bench to improve registration using RGB-D sensors (F. Pomerleau, S. Magnenat, F. Colas, M. Liu, R. Siegwart) [abstract] [presentation]

2:15PM Contributed Paper: Real-time 3D visual SLAM with a hand-held RGB-D camera (N. Engelhard, F. Endres, J. Hess, J. Sturm, W. Burgard) [abstract] [presentation]

2:35PM Contributed Paper: Acting and Interacting in the Real World (J. Bohg, N. Bergstrom, M. Bjorkman, D. Kragic) [abstract] [presentation]

2:55PM Poster/demo overview

3:00PM Coffee break (and poster/demo setup)

3:30PM Demos + Poster session (1h)

  • 2D/3D Object Categorization for Task Based Grasping (M. Madry, D. Song, D. Kragic) [abstract] [poster]
  • The Articulated Scene Model: Model-less Priors for Robot Object Learning (A. Swadzba, N. Beuter, S. Wachsmuth, F. Kummert) [abstract] [poster]
  • Autonomous Corridor Flight of a UAV Using an RGB-D Camera (S. Lange, N. Suenderhauf, P. Neubert, S. Drews, P. Protzel) [abstract] [poster]
  • Outdoor terrain traversability analysis for robot navigation using a time-of-flight camera (G. De Cubber, D. Doroftei, H. Sahli, Y. Baudoin) [abstract] [poster]
  • 2.5D Local Feature Matching System (E. Strachan, J. P. Siebert) [abstract] [poster]
  • Evaluation of 3D Model Accuracy for Automated Unloading of Containers (A. Kirchheim, W. Echelmeyer, T. Stoyanov, A. Louloudi, M. Magnusson, A. Lilienthal) [abstract] [poster]

4.30 Invited talk: Kevin Lai - RGB-D Object Dataset and RGB-D Object Recognition, Detection and Pose Estimation [presentation]

5:00PM Contributed Paper: RGB-D object recognition and localization with clutter and occlusions (F. Tombari, S. Salti, L. Di Stefano) [abstract] [presentation]

5:20PM Contributed Paper: Efficient surface and feature estimation in RGBD (Z.-C. Marton, D. Pangercic, M. Beetz) [abstract] [presentation]

5:40PM Plenum Discussion (20min)

6.00PM End of Workshop

7:00PM Dinner at restaurant

Photos from the Workshop

Organizers

Sponsors

Participation

The workshop is open for everyone. We would kindly ask you to fill-in the following registration form in order to help us estimate the size of the audience group.

Contact

dejan.pangercic (at) cs.tum.edu

sturm (at) informatik.uni-freiburg.de

Last edited 10.01.2012 11:53 by pangerci