1 / 17

710.088 ROBOT VISION 2VO 1KU Matthias Rüther, Christian Reinbacher

710.088 ROBOT VISION 2VO 1KU Matthias Rüther, Christian Reinbacher. Administrative. VO : 12x Tuesday 14:30-16:00 HS i11 http:// www.icg.tugraz.at / courses /lv710.088/info News: tu- graz.lv.robot_vision_ue Exam : Written ( 02.07.2012) in last VO

tiara
Download Presentation

710.088 ROBOT VISION 2VO 1KU Matthias Rüther, Christian Reinbacher

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 710.088 ROBOT VISION2VO 1KUMatthias Rüther, Christian Reinbacher

  2. Administrative VO: 12x Tuesday 14:30-16:00 HS i11 http://www.icg.tugraz.at/courses/lv710.088/info News: tu-graz.lv.robot_vision_ue Exam: Written (02.07.2012) in last VO Oral ExamifRequested KU: 33 Students registered 10 Groups of 3 students Target Effort: ~1week per student

  3. Robots that „see“ (or want to see)

  4. What does „seeing“ mean? • Acquireimage(s) • Photon Sensor, Optics, Illumination • Transfer toProcessor • Reliably, fast, real-time, long-distance, lownoise • 2D Image Processing • Feature Detection, Image Segmentation, Image Understanding, ... • Reconstruct 3D information • Geometry, Multi-View Geometry, CameraGeometry, Shape fromX • Feedback and Manipulation • Robot Control, KinematicControl, Robot Navigation, Visual Servoing

  5. Topics • Multiple View Geometry: • How to algebraically represent points/lines/planes • How to define mappings on these • How to estimate these • Linear Algebra (vectors, matrices, matrix decompositions) • Hardware and Sensors • Cameras, light sources, optics, data transfer, processors • Depth Recovery • How to estimate/measure 3D information from images  RGBD Cameras, Lasers, Projector-Camera Systems, Multi-Cam Systems • Robotics • How to model static/mobile robots • Robot Vision • Visual Odometry, VSLAM, Robotic Metrology, Visual Servoing

  6. Literature Hartley R., Zissermann A., Multiple View Geometry in Computer Vision, Cambridge, Second Edition. Sebastian Thrun, Wolfram Burgard and Dieter Fox: ProbabilisticRobotics LectureSlides Web resources

  7. Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

  8. Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

  9. Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

  10. Vision Sensors • Passive (Multi-) Camera Systems [YasutakaFurukawaand Jean Ponce, Accurate, Dense, and Robust Multi-View Stereopsis, IEEE Transactions on Pattern Analysis andMachineIntelligence, 2009.] • Active Vision Sensors (Emitter/Receiver)

  11. Applications Commercial: Body Scanning http://rvlab.icg.tugraz.at/project_page/project_virtual_dressingroom/project_virtual_dressingroom.htm

  12. Applications Microscopy: Fracture Analysis http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

  13. Applications • Structured Light: Part Analysis http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

  14. Applications • Visual SLAM http://rvlab.icg.tugraz.at/project_page/project_monoslam/project_monoslam.htm

  15. Applications • Robotic Welding http://rvlab.icg.tugraz.at/project_page/project_weldpath_tracking/project_weldpath_tracking.htm

  16. Applications • Catadioptric Pose Estimation http://rvlab.icg.tugraz.at/project_page/project_silhouette/project_silhouette.htm

  17. Applications • Stereoscopic Field Application http://rvlab.icg.tugraz.at/project_page/project_giant_honeybees/project_giant_honeybees.htm

More Related