Model-Based Vision for Robot Applications
Guest Speaker: Henrik Christensen, Georgia Tech
Host: CSE Prof. Mohan Paturi
This seminar by Georgia Tech robotics director Henrik Christensen is part of the Spring 2016 CSE Distinguished Lecture series organized by the department.
As robotic systems are moving from well controlled environments to unstructured environments, they are required to operate in highly dynamic and cluttered scenes. Finding an object, estimating its 6-DOF pose, and tracking the pose over time in these scenes are challenging problems. Although various approaches have tackled these problems for the last decades, a lot of challenges have not been actively addressed and thus remained unsolved. In this talk we will addresses three of these challenges: clutter in background, handling both textured and textureless objects, and object discontinuities during tracking. Given a priori 3D object models, our approach exploit both photometric and geometric features available from the objects to increase the robustness with respect to background clutter, to recognize both textured and textureless objects, and to resolve the issue of object discontinuities in the midst of tracking. Our research has considered use of a 2D monocular camera and a 3D RGB-D camera. Various visual object pose estimation and tracking examples will be shown with applications in robotics.
HENRIK I. CHRISTENSEN is the KUKA chair of robotics and the executive director of the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology. Dr. Christensen received his education in Denmark and has since then held faculty positions in Denmark, Sweden and USA. His research covers computer vision, artificial intelligence and robotics. The main emphasis is a systems perspective to robotics. Dr. Christensen has published more than 300 contributions and serves on 6 editorial boards. He is the editor in chief of Trends and Foundations in Robotics. Dr. Christensen is a fellow of IEEE and AAAS. He was awarded the Joe Engelberger Award 2011, the most widely recognized award from the robotics industry and was named Boeing Supplier of the Year 2012. Dr. Christensen was the editor of the US National Robotics Roadmap 2009 and 2013.