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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 Dejan Pangercic

STUDENTS WANTED:
We are looking for the students to work on the following topics as within their B.Sc., M.Sc, Guided Research projects:

Partners

Since January 2012 I have been working with Barcoo, a company from Berlin that is applying web mining for barcode applications (e.g. linking products in stores with the independent consumer information). I have a preliminary implementation of the barcode scanning and querying available here, please drop me an email for the details.

Intro

I have started my PhD at the Intelligent Autonomous Systems Group in 2009 under the supervisory of prof. Michael Beetz, PhD. My main research interest lies in semantic mapping, perception of everyday objects and scenes, mobile manipulation and system integration. I am one of the driving forces behind TUM's PR2 Beta Program proposal called CRAM and I spent summer of 2011 researching at Bosch RTC in Palo Alto, CA.

I am an active member of IEEE and RAS societies and regularly submit and publish to following conferences: IROS, ICRA, ICAR, Humanoids, RSS. I actively develop and contribute code to Robot Operating System (ROS), open-source, meta-operating system for personal robots. Please find my packages on code.cs.tum.edu server.

I obtained my B.Sc. and M.Sc. degrees at the Faculty for Electrical Engineering, UL and Department of Electrical Engineering and Information Technology, TUM respectively. Any additional information about me, including a complete CV, is available upon request.

News

15.07.2012
Slides available from my talk in the Clutter 12 workshop at RSS 2012.
Read more news...

Projects


*
table_objects.jpg
+
Semantic Mapping Scene Classification Object Recognition
Mobile Manipulation Cognitive Factory Robotic Demonstrations

* Courtesy: Moritz Tenorth
+ Courtesy: Zoltan-Csaba Marton

Code

I use ROS in my research and thus integrate and release all of my code in form of ROS packages. Following list also includes packages I worked on together with my collaborators.

I am occasionally also contributing to Point Cloud Library.

Events

In the past I have co-organized the following events:

Teaching

Students

There was a myriad of excellent undergrad colleagues that I got the chance to work together with. Below list is the list with their assignments and final reports.

  • Object categorization from models from WWW using Hough Voting by Vladyslav Usenko (together with Zoltan-Csaba Marton and Oscar Martinez Mozos) (still WIP)
  • RGB + D + High Level Feature based point cloud registration by Ross Kidson [ paper ] (still WIP)
  • Interactive Segmentation of Household Objects by Karol Hausman paper ] [ code ](Still WIP)
  • Detecting Unknown High-level Concepts in Semantic Mapping with Mobile Robots by Nikolaus Demmel (Co-supervised with Andrzej Pronobis) [ Final Presentation ]
  • Eye-in-Hand Modeling by Ronny Bismark [ Final Presentation ]
  • Barcode-based Object Recognition by Nacer Khalil [ Final Presentation] [ code ]
  • Android-based image processing by Rim Zahir [ Final Presentation]
  • Object detection and segmentation in cluttered scenes through perception and manipulation by Julius Adorf [ Final Presentation ]
  • Learning Where Objects Are - Organizational Principles in Human Environments by Martin Schuster (Co-supervised) [ Final Presentation ]
  • In-hand Object Modeling Center for Robotic Perception by Monica-Simona Opris [ Final Presentation ]
  • Implementation of Contracting Curve Density Algorithm for ROS by Shulei Zhu [ Final Presentation ] [ paper ]
  • Detection of Household Objects Using Projected Light Patterns by Florian Zacherl [ Final Presentation ] [ tutorial ]
  • Fast and Robust Object Detection in Household Environments Using DOT Descriptors and Vocabulary Trees with SIFT Descriptors by Vladimir Haltakov [ tutorial ] [ paper ]
  • Point Cloud Registration Framework by Hozefa Indorewala [ tutorial ] [ paper ]
  • Knowledge representation and learning algorithms utilising Robot Learning Language in the Cognitive Factory by Andreas Leha [ paper ]
  • Connecting High-Level Planning, Reasoning and Model-driven Vision into a Robotic System that Enables Everyday Manipulation Tasks by Rok Tavcar (Co-supervised) [ paper ]

Publications

Sort Order:  by type by year

Journal Articles and Book Chapters

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]
Web-enabled Robots -- Robots that Use the Web as an Information Resource (Moritz Tenorth, Ulrich Klank, Dejan Pangercic, Michael Beetz), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf]
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]

Conference Papers

Tracking-based Interactive Segmentation of Textureless Objects (Karol Hausman, Ferenc Balint-Benczedi, Dejan Pangercic, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. (Best Service Robotics Paper Award Finalist) [bib] [pdf]
Context Aware Shared Autonomy for Robotic Manipulation Tasks (Thomas Witzig, J. Marius Zöllner, Dejan Pangercic, Sarah Osentoski, Philip Roan, Rainer Jäkel, Rüdiger Dillmann), In In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013. [bib]
The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments (L. Marconi, C. Melchiorri, M. Beetz, D. Pangercic†, R. Siegwart, S. Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, P. Doherty, A. Kleiner, V. Lippiello, A. Finzi, B. Siciliano, A. Sala, N. Tomatis), In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012. [bib] [pdf]
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use (Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments (Thomas Rühr, Jürgen Sturm, Dejan Pangercic, Michael Beetz, Daniel Cremers), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf]
Semantic Object Maps for Household Tasks (Michael Beetz, Moritz Tenorth, Dejan Pangercic, Benjamin Pitzer), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
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]
Contracting Curve Density Algorithm for Applications in Personal Robotics (Shulei Zhu, Dejan Pangercic, Michael Beetz), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Combining Perception and Knowledge Processing for Everyday Manipulation (Dejan Pangercic, Moritz Tenorth, Dominik Jain, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [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]
Hierarchical Object Geometric Categorization and Appearance Classification for Mobile Manipulation (Zoltan-Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Real-time CAD Model Matching for Mobile Manipulation and Grasping (Ulrich Klank, Dejan Pangercic, Radu Bogdan Rusu, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [bib] [pdf]
Mutually Augmented Cognition (Florian Friesdorf, Dejan Pangercic, Heiner Bubb, Michael Beetz), In Proceedings of the International Conference on Social Robotics (ICSR)., 2009. [bib]
Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic (Dejan Pangercic, Rok Tavcar, Moritz Tenorth, Michael Beetz), In Proceedings of the International Conference on Advanced Robotics (ICAR)., 2009. [bib] [pdf]
Optimization of Simulated Production Process Performance using Machine Learning (Andreas Leha, Dejan Pangercic, Thomas Rühr, Michael Beetz), In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib] [pdf]
Integration of Perception, Global Planning and Local Planning in the Manufacturing Domain (Christoph Ertelt, Thomas Rühr, Dejan Pangercic, Kristina Shea, Michael Beetz), In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib]
Structured Reactive Controllers and Transformational Planning for Manufacturing (Thomas Rühr, Dejan Pangercic, Michael Beetz), In Proceedings of the 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Hamburg, Germany, September 15-18, 2008. [bib] [pdf]
3D-Based Monocular SLAM for Mobile Agents Navigating in Indoor Environments (Dejan Pangercic, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Hamburg, Germany, September 15-18, 2008. [bib] [pdf]

Workshop Papers

Furniture Classification using WWW CAD Models (Vladyslav Usenko, Florian Seidel, Zoltan-Csaba Marton, Dejan Pangercic Michael Beetz), In IROS’12 Workshop on Active Semantic Perception (ASP’12), 2012. [bib] [pdf]
Elaborative Evaluation of RGB-D based Point Cloud Registration for Personal Robots (Ross Kidson, Darko Stanimirovic, Dejan Pangercic, Michael Beetz), In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf]
Segmentation of Cluttered Scenes through Interactive Perception (Karol Hausman, Christian Bersch, Dejan Pangercic, Sarah Osentoski, Zoltan-Csaba Marton, Michael Beetz), In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf]
Segmentation of Textured and Textureless Objects through Interactive Perception (Christian Bersch, Dejan Pangercic, Sarah Osentoski, Karol Hausman, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012. [bib] [pdf]
Efficient Surface and Feature Estimation in RGBD (Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In RGB-D Workshop on 3D Perception in Robotics at the European Robotics (euRobotics) Forum, 2011. [bib] [pdf]
Voxelized Shape and Color Histograms for RGB-D (Asako Kanezaki, Zoltan-Csaba Marton, Dejan Pangercic, Tatsuya Harada, Yasuo Kuniyoshi, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf]
Fast and Robust Object Detection in Household Environments Using Vocabulary Trees with SIFT Descriptors (Dejan Pangercic, Vladimir Haltakov, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf]
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]
Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop (Michael Beetz, Ulrich Klank, Alexis Maldonado, Dejan Pangercic, Thomas Rühr), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011. [bib] [pdf]
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]
An Integrated Approach to Realize the Cognitive Machine Shop (M. F. Zäh, M. Beetz, K. Shea, G. Reinhart, O. Stursberg, M. Ostgathe, C. Lau, C. Ertelt, D. Pangercic, Thomas Rühr, H. Ding, T. Paschedag), In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008. [bib]

Other Publications

A Robot that Shops for and Stores Groceries (Dejan Pangercic, Koppany Mathe, Zoltan-Csaba Marton, Lucian Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz), AAAI Video Competition (AIVC 2011), 2011. [bib]
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Last edited 25.07.2012 12:00 by pangerci