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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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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 People Dr. Nico Blodow

Note: This page is out of date, I am not affiliated with TU Munich anymore. For more up-to-date information, please visit my LinkedIn profile, with a little luck it's more up to date.

I am currently pursuing a PhD degree at the IAS group at the TU Munich.

My research interest lie in the intersection of real time 3D perception and higher level semantic reasoning, especially in the areas of semantic mapping of indoor environments, autonomous exploration and mapping, object recognition and localization, object identity resolution, as well as spatial and temporal reasoning.

In the spring of 2011, I had the pleasure of doing a three-month internship at Willow Garage in Palo Alto, CA, USA, to continue my work on the Point Cloud Library (PCL). I was working most closely with Radu Rusu, Suat Gedikli and Michael Dixon on porting and developing existing and new PCL functionality on the GPU using CUDA. See my youtube channel for some videos: http://www.youtube.com/user/nicoblodow.

From February to April 2009, I was a visiting scholar in the Robotics Institute at Carnegie Mellon University and the Personal Robotics group of Intel Labs Pittsburgh, where I was working with Siddartha Srinivasa and his group on 3D perception for personal robots and on the development of the spinning laser scanner on the lab's robot HERB.

I have started my PhD studies in June 2008, however I alreday had close ties to the group during my undergraduate studies in Computer Science and Mechanical Engineering / Mechatronics, and wrote my diploma thesis on “Efficient Detection of Primitive Geometric Shapes in 3D Point Clouds” during this time.

External Links

Realtime Model-based segmentation and filtering of Robot or World model from Kinect data: http://github.com/blodow/realtime_urdf_filter

WebGL Experiment with animated Regula Falsi fractals: http://blodow.bitbucket.org/rf/

Publications

Journal Articles and Book Chapters

RoboSherlock: Unstructured Information Processing Framework for Robotic Perception (Michael Beetz, Ferenc Bálint-Benczédi, Nico Blodow, Christian Kerl, Zoltán-Csaba Márton, Daniel Nyga, Florian Seidel, Thiemo Wiedemeyer, Jan-Hendrik Worch), In Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, 2015. [bib] [doi]
Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Oscar Martinez Mozos, Nico Blodow, Asako Kanezaki, Lucian Cosmin Goron, Dejan Pangercic, Michael Beetz), In Journal of Intelligent & Robotic Systems, Springer Netherlands, 2014. [bib]
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, Dejan Pangercic), In Proceedings of the IEEE, Special Issue on Quality of Life Technology, volume 100, 2012. [bib]
Combined 2D-3D Categorization and Classification for Multimodal Perception Systems (Zoltan Csaba Marton, Dejan Pangercic, Nico Blodow, Michael Beetz), In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf]
Towards 3D Point Cloud Based Object Maps for Household Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Michael Beetz), In Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge in Robotics), volume 56, 2008. [bib] [pdf]

Conference Papers

RoboSherlock: Unstructured Information Processing for Robot Perception (Michael Beetz, Ferenc Balint-Benczedi, Nico Blodow, Daniel Nyga, Thiemo Wiedemeyer, Zoltan-Csaba Marton), In IEEE International Conference on Robotics and Automation (ICRA), 2015. (Best Service Robotics Paper Award) [bib]
Object Categorization in Clutter using Additive Features and Hashing of Part-graph Descriptors (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Nico Blodow, Lucian Cosmin Goron, Michael Beetz), In Proceedings of Spatial Cognition (SC), 2012. [bib] [pdf]
Real-time Compression of Point Cloud Streams (Julius Kammerl, Nico Blodow, Radu Bogdan Rusu, Suat Gedikli, Michael Beetz, Eckehard Steinbach), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib]
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments (Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf]
General 3D Modelling of Novel Objects from a Single View (Zoltan-Csaba Marton, Dejan Pangercic, Nico Blodow, Jonathan Kleinehellefort, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf]
Perception and Probabilistic Anchoring for Dynamic World State Logging (Nico Blodow, Dominik Jain, Zoltan-Csaba Marton, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Fast Geometric Point Labeling using Conditional Random Fields (Radu Bogdan Rusu, Andreas Holzbach, Nico Blodow, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Close-range Scene Segmentation and Reconstruction of 3D Point Cloud Maps for Mobile Manipulation in Human Environments (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Fast Point Feature Histograms (FPFH) for 3D Registration (Radu Bogdan Rusu, Nico Blodow, Michael Beetz), In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib]
Partial View Modeling and Validation in 3D Laser Scans for Grasping (Nico Blodow, Radu Bogdan Rusu, Zoltan Csaba Marton, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf]
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems (Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, Moritz Tenorth), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. (Invited paper.) [bib] [pdf]
Action Recognition in Intelligent Environments using Point Cloud Features Extracted from Silhouette Sequences (Radu Bogdan Rusu, Jan Bandouch, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf]
Functional Object Mapping of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Emanuel Dolha, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Aligning Point Cloud Views using Persistent Feature Histograms (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Learning Informative Point Classes for the Acquisition of Object Model Maps (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20, 2008. [bib] [pdf]
Persistent Point Feature Histograms for 3D Point Clouds (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10), Baden-Baden, Germany, 2008. [bib] [pdf]
Towards 3D Object Maps for Autonomous Household Robots (Radu Bogdan Rusu, Nico Blodow, Zoltan-Csaba Marton, Alina Soos, Michael Beetz), In Proceedings of the 20th IEEE International Conference on Intelligent Robots and Systems (IROS), 2007. [bib] [pdf]

Workshop Papers

Inferring Generalized Pick-and-Place Tasks from Pointing Gestures (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf]
Advantages of Spatial-temporal Object Maps for Service Robotics (Zoltan-Csaba Marton, Nico Blodow, Michael Beetz), In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf]
CAD-model recognition and 6DOF pose estimation using 3D cues (Aitor Aldoma, Markus Vincze, Nico Blodow, David Gossow, Suat Gedikli, Radu Bogdan Rusu, Gary R. Bradski), In IEEE International Conference on Computer Vision Workshops, ICCV 2011 Workshops, Barcelona, Spain, November 6-13, 2011, 2011. [bib]
Making Sense of 3D Data (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In Robotics: Science and Systems Conference (RSS), Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, 2010. [bib] [pdf]
CoP-Man -- Perception for Mobile Pick-and-Place in Human Living Environments (Michael Beetz, Nico Blodow, Ulrich Klank, Zoltan Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu), In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Semantic Perception for Mobile Manipulation, 2009. (Invited paper.) [bib] [pdf]
Interpretation of Urban Scenes based on Geometric Features (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008. (Invited paper) [bib] [pdf]
Autonomous Mapping of Kitchen Environments and Applications (Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Moritz Tenorth, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf]

Other Publications

Managing Belief States for Service Robots - Dynamic Scene Perception and Spatio-temporal Memory (Nico Blodow), PhD thesis, Technische Universität München, 2014. [bib]
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Last edited 07.01.2015 20:35 by blodow