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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 Teaching SS2012 Technical Cognitive Systems (IN2222)

Technical Cognitive Systems (IN2222)

Duration5 SWS
TypeLecture with Practical Sessions
SemesterSS2012
LecturerProf. Michael Beetz, PhD
AssistantsDaniel Nyga
Nico Blodow
Lorenz Mösenlechner
Ingo Kresse
Alexis Maldonado
Thomas Rühr
Lars Kunze
Dejan Pangercic
Can Isik
Gheorghe Lisca
Sohee Lee
Georg Bartels
Zoltan-Csaba Marton
Goalsiehe Modulbeschreibung IN2222
LanguageEnglish
DateBlock Course:
30.07.2012 - 03.08.2012, 9:00AM-5:00PM
Theresianum, Room 0670ZG, Arcisstr. 21

Latest News

Public announcements with respect to the lecture, the practical sessions and the exam will be published here. Contact: Daniel Nyga (nyga@in.tum.de)

  • You have the opportunity to inspect your evaluated exam. In order to do so, please make an individual appointment with Daniel Nyga
  • The exam takes place on Monday, August 13, 2012 at 10:00AM (s.t.!!!). Venue is MI Hörsaal 1 in Garching. Please show up at least 20min before and bring your student ID card. No auxiliaries are permitted except for a dictionary.
  • The lecture on Thursday is supposed to take place in the default lecture room, i.e. Room 0670. In case that the technical problems have not been fixed until then, we will again move to Room 0602.

Contents

The lecture aims at a basic understanding of the concepts of human cognition, understanding the transfer of cognitive skills to machines, applications in robotics (language and image understanding, planning, action generation):

  • Basic concepts (perception - cognition - action)
  • transfer of cognitive skills (sensors, algorithms, behaviour patterns)
  • study of prototypes of existing systems

Examination

At the end of the semester, there will be a written examination. Registration for the lecture and the exam must be done via TUMOnline.

  • Date: Mon, August 13, 2012
  • Time: 10:00 AM
  • Duration: 90 min
  • Location: MI Hörsaal 1, Garching

No auxiliaries are permitted.

Schedule

Monday, 30.07.2012
09:00 AMLecture: Introduction to the Course
10:30 AMLecture: Introduction to the ROS Robot Operating System
12:00 AMLunch Break
01:30 PMGuest Talk on ROS by Willow Garage
03:00 PMLecture: Dynamic System Models/Agent Models


Tuesday, 31.07.2012
09:00 AMLecture: Sensors
10:30 AMLecture: Perception for Cognitive Robots
12:00 AMLunch Break
01:30 PMShort Intros: [ OpenCV ] [ PCL ]
03:00 PM[ Exercises ] [ Solutions - (Updated 08.08.2012) 1 corrected, 2 TBD ]


Wednesday, 01.08.2012
09:00 AMLecture: State Estimation & Bayesian Filtering
10:30 AMLecture: Knowledge Processing for Cognitive Robots
12:00 AMLunch Break
01:30 PMLecture: Reasoning
03:00 PMPractical Session, Exercises (Updated 04.08.2012)


Thursday, 02.08.2012
09:00 AMLecture: Control Frameworks
10:30 AMLecture:Motion Planning
12:00 AMLunch Break
01:30 PMLecture: Localization, SLAM
03:00 PMPractical Session, Exercises


Friday, 03.08.2012
09:00 AMLecture: Grasp-Planning
10:30 AMLecture: Robot Hardware, Actuators
12:00 AMLunch Break
01:30 PMLecture: High-Level Planning
03:00 PMPractical Session, Exercises


Last edited 18.10.2012 14:54 by nyga