Loading Events

« All Events

  • This event has passed.

Fall 2012 GRASP Seminar – Darius Burschka, Technische Universität München, “Embedded Visual Perception for Navigation and Manipulation”

September 21, 2012 @ 11:00 am - 12:00 pm

Abstract: I will present the work of the Machine Vision and Perception Group at TUM in the field of navigation and object registration on a variety of systems including our flying and manipulation platforms.

Sensing is essential for autonomy in robotic applications. Our focus is on how to provide sensing to low power systems that enables them to cope with the high dynamics of the underlying hardware. A disadvantage of using compact, low-power sensors is often their slower speed and lower accuracy making them unsuitable for direct capture and control of high dynamic motion. On the other hand, the inherent instability of some systems (e.g. helicopters or quadrotors), their limited on-board resources and payload, their multi-DoF design and the uncertain and dynamic environment they operate in, present unique challenges both in achieving robust low level control and in implementing higher level functions. We developed tracking algorithms (AGAST) and localization (Z_inf) techniques that can be used for navigation on embedded systems. I will show their application on OMAP3 processors (BeagleBoard.org system).

Perception of the sensors can be boosted by adding external data in form of sensor data fusion or indexing to external databases. I will present an efficient 3D object recognition and pose estimation approach for grasping procedures in cluttered and occluded environments. In contrast to common appearance-based approaches, we rely solely on 3D geometry information. Our method is based on a robust geometric descriptor, a hashing technique and an efficient, localized RANSAC-like sampling strategy.


- Learn More

Darius Burschka received the PhD degree in Electrical and Computer Engineering in 1998 from the Technische Universität München in the field of vision-based navigation and map generation with binocular stereo systems. In 1999, he was a Postdoctoral Associate at the Yale University, New Haven, Connecticut, where he worked on laser-based map generation and landmark selection from video images for vision-based navigation systems. From 1999 to 2003, he has been an Associate Research Scientist at the Johns Hopkins University, Baltimore, Maryland. From 2003 to 2005, he was an Assistant Research Professor in Computer Science at the Johns Hopkins University. Currently, he is an Associate Professor in Computer Science at the Technische Universität München, Germany, where he heads the Machine Vision and Perception group. He was an area coordinator in the DFG Cluster of Excellence “Cognition in Technical Systems”. He is the head of the virtual institute TUM-DLR on “Telerobotics and Sensor Data Fusion” since 2005.

His areas of research are sensor systems for mobile robots and human computer interfaces. The focus of his research is vision-based navigation and three-dimensional reconstruction from sensor data.


September 21, 2012
11:00 am - 12:00 pm
Event Category: