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GRASP Special Seminar: Changhyun Choi, Georgia Institute of Technology, “Visual Object Perception in Unstructured Environments”

July 18, 2014 @ 1:00 pm - 2:00 pm

Abstract: As robotic systems move from
well-controlled settings to increasingly unstructured
environments, they are required to operate in highly
dynamic and cluttered scenarios. Finding an object,
estimating its pose, and tracking its pose over time
within such scenarios are challenging problems. Although
various approaches have been developed to tackle these
problems, the scope of objects addressed and the
robustness of solutions remain limited. In this talk, I
will present a robust object perception using visual
sensory information, which spans from the traditional
monocular camera to the more recently emerged RGB-D
sensor, in unstructured environments. I will address
four important challenges, such as significant clutter
in backgrounds, objects with and without texture, object
discontinuous cases during tracking, and real-time
constraints, to robust 6-DOF object pose estimation and
tracking that current state-of-the-art approaches have,
as yet, failed to solve. Various object pose estimation
and tracking examples will be shown with several
applications in robotics.


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Changhyun Choi is a Ph.D. candidate in the
School of Interactive Computing, College of Computing at
the Georgia Institute of Technology (Georgia Tech) in
Atlanta, Georgia, USA. He is also affiliated with the
Institute for Robotics and Intelligent Machines (IRIM)
at Georgia Tech. He was a research intern in the Imaging
Group of Mitsubishi Electric Research Labs (MERL) in
Cambridge, Massachusetts, USA, an intern researcher at
the Imaging Media Research Center (IMRC) at Korea
Institute of Science and Technology (KIST), and an
undergraduate researcher at the Intelligent Systems
Research Center at Sungkyunkwan University in Korea. He
holds a B.S. in Information and Communication
Engineering from Sungkyunkwan University. His broad
research interests are in visual perception for
robotics, with a focus on object recognition and pose
estimation, visual tracking, and 3D registration.


July 18, 2014
1:00 pm - 2:00 pm
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