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GRASP Seminar: Darius Burschka, Technical University Munich, “Hierarchical Visual Perception for Minimally Invasive Surgery, Humanoids, and UAVs”

April 6, 2007 @ 11:00 am - 12:00 pm

Abstract: Context-awareness and instinctive response to visual stimuli in the environment are the new challenges for joint action of humans with technical systems. I will present how we use the sensor information from monocular, binocular and lidar systems to control technical systems in a wide range of applications. The areas of research include medical robots for minimally invasive surgery, humanoids, and mobile/flying systems. The sensor data is processed at different levels of abstraction allowing implementations on systems with strongly varying processing power and cycle time requirements ranging from a few hundreds of microseconds to hundreds of milliseconds. This allows to provide the necessary information at different levels of control from basic stabilization tasks that are necessary for flying systems, like blimps and quadrucopters, to advanced planning and localization systems that operate at a slower rate but require context knowledge and/or global information.

I will give an overview of my work at the Technical University Munich with a joint appointment at the Institute for Robotics and Mechatronics of the German Aerospace Agency (DLR) in Oberpfaffenhofen. My research involves endoscopic navigation for minimally invasive surgery on N-from-M manipulator systems, exploration tasks for humanoids and manipulator systems, navigation tasks on autonomous cars using a combination of a parallel lidar system with multi-focal cameras, and navigation and control of indoor and outdoor flying systems. The flying systems are used for vision-based 3D reconstruction tasks of historical sites like, e.g., the Castle Neuschwanstein.


Darius Burschka received his Ph.D. in Electrical and Computer Engineering in the field of binocular exploration of indoor environments with mobile robots in 1998. After his Ph.D., he worked as a postdoctoral researcher at the Yale University on Vision-Based Control for mobile systems. In 1999, he moved as Associate Research Scientist to the Computer Science Department at the Johns Hopkins University in Baltimore, where he extended his research interest to Human Computer Interaction (HCI), and medical navigation and registration. He became Assistant Research Professor at the Johns Hopkins University in 2003. In 2005, he moved as Associate Professor to the Department of Computer Science at the Technical University in Munich, where he created a virtual institute for Telepresence and Data-fusion in collaboration with the Institute for Robotics and Mechatronics of the German Aerospace Agency (DLR). He is a member of the Executive Board of the newly established Cluster of Excellence in the field of Cognitive Technical Systems, where he coordinates the perception area. His principle areas of research are sensors for mobile systems and Human Computer Interfaces. The focus of his research is on vision-based navigation and three-dimensional reconstruction from sensor data.


April 6, 2007
11:00 am - 12:00 pm
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