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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 Sohee Lee

About

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.

Professional Interests

I'm highly interested in robot mechanics, planning, and control.

  • Autonomous mobile manipulation: Planning of multitasking motion for service robots. Intelligent Architecture for autonomous robots.
  • Dynamics based motion control and balancing of mobile manipulators.
  • Humanoid movement generation: analysis of optimality principle for human motor control and natural, human-like, optimal movement generation.

My research works are here.

Teaching

  • WS12: Guest Lecturer, Dynamic Human Interaction in TUMunich.
  • SS12: Teaching Assistant, Technical Cognitive Systems in TUMunich.
  • Fall 2011: Lecturer, Robotics and Mechatronics in Soongsil University.
  • Spring 2004,2005: Teaching Assistant, Introduction to Robotics in Seoul National University.

Publications

Journal Articles
Rollover Prevention of Mobile Manipulators Using Invariance Control and Recursive Analytic ZMP Gradients (Sohee Lee, Marion Leibold, Martin Buss, and Frank C. Park), In Advanced Robotics, vol. 26, no. 11-12, pp. 1317-1341, 2012
Submitted Papers
Control Laws that Take into Account the Cost of Control for Human-like Robot Movement Generation (Sohee Lee, Frank C. Park, and Dongheui Lee), To the IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013
Conference and Workshop Papers
Mobile Robot Motion Primitives That Take into Account the Cost of Control (Sohee Lee and Frank C. Park), In Advances in Robot Kinematics (ARK), Innsbruck, 2012
Online stability compensation of mobile manipulators using recursive calculation of ZMP gradients (Sohee Lee, Marion Leibold, Martin Buss and Frank C. Park), In Proc. of International Conference on Robotics and Automation (ICRA), St. Paul, 2012
Dynamically Stable Mobile Manipulation via Invariance Control(Sohee Lee), In UT-SNU Robotics Workshop, Tokyo, 2012
Minimum Attention as a Paradigm for Robot Movement Generation (Sohee Lee and Frank C. Park)), In US-Korea Conference on Science, Technology, and Entrepreneurship, August 11~15, 2010
An Architecture and Motion Description Language for Mobile Manipulation of Service Robots (Sohee Lee, Changmook Chun, Jungdong Kim, and Frank C. Park), In Proceedings of 39th International Symposium on Robotics, October 15~17, 2008
Task-oriented, Real-time Motion Planning and Control for Mobile Manipulator (Frank C. Park, Sohee Lee, Jungdong Kim), In The 8th Technical Workshop, Center for Intelligent Robotics, August 29-31, 2007
PhD Thesis
Dynamics-based motion planning and control of mobile manipulators, PhD thesis, Seoul National University, 2011
Last edited 13.05.2013 18:30 by lee