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GRASP Special Seminar: Georgios Georgakis, George Mason University, “3D Model-Assisted Learning for Object Detection and Pose Estimation”

December 20, 2019 @ 10:00 am - 11:00 am


Supervised learning paradigm for training Deep Convolutional Neural Networks (DCNN) rests on the availability of large amounts of manually annotated images, which are necessary for training deep models with millions of parameters. In this talk, I will present novel techniques for mitigating the required manual annotation, by generating large object instance datasets through compositing textured 3D models onto commonly encountered background scenes to synthesize training images. The generated training data augmented with real world annotations outperforms models trained only on real data. Non-textured 3D models are subsequently used for keypoint learning and matching, and 3D object pose estimation from RGB images. The proposed methods showcase promising results with regards to generalization on new and standard benchmark datasets. In the final part of the talk, I will discuss how these perception capabilities can be leveraged and encoded in a spatial map, in order to enable an agent to successfully navigate towards a target object.


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I am a Ph.D student in the Department of Computer Science in George Mason University. My advisor is Dr. Jana Kosecka. My research interests lie at the intersection of computer vision and robotics. I have worked on multiple problems such as object detection and recognition in RGB-D data, keypoint and descriptor learning, and 3D object pose estimation. Currently I am working on visual based navigation for goal reaching in indoor environments. During my Ph.D I spent two wonderful summers at Siemens CT as an intern in the computer vision research group. In the summer of 2019 I did an internship in the computer vision and robotics group at UII America where I worked on human pose estimation and mesh recovery.

Prior to joining George Mason University I completed my Diploma in Computer Engineering from the Technical University of Crete in Greece. I worked with Dr. Michail G. Lagoudakis on landmark recognition and localization for an online robotic soccer competition.


December 20, 2019
10:00 am - 11:00 am