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IEEE HUMANOIDS
2009 |
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Tutorial on Real-time Computer Vision for Localisation and Mapping 7th December 2009 As part of IEEE
Humanoids 2009 Université Pierre et Marie Curie (UPMC), Paris,
France Times: We will start at 14:00hrs and finish around 17:30 |
Speakers
Andrew Davison (
Length
Half-day
Motivation
For a highly dextrous and agile platform,
such as a humanoid robot, a pre-requisite for efficient task or motion planning
is to be able to know where it is relative to its surroundings. In recent
years, there has been significant effort in developing real-time mapping and
localisation using vision sensors only. The attractiveness of visual sensors is
the number of world features that they can recover that range from 3D, motion,
people perception and textures, as well as their small size, low cost and
availability.
A humanoid requires fast algorithms
able to provide pose within a few milliseconds and therefore the visual
techniques required must be robust and consider real-time constraints.
This tutorial will present an
introduction to the basics of visual mapping and localisation as well as recent
and ongoing developments in these key areas: Efficient and robust visual
feature description, fast memory efficient robot re-localisation using visual
cues, work on reducing redundancy on the system through finding structures on
the map and work on humanoid navigation and visual sensor planning.
Intended
audience
Research
students and academics interested in using vision as a main or primary sensor
in real-time humanoid mapping and localisation.
Programme
14:00 Greetings
and brief Introduction
14:05 Basics
of Visual Localisation
15:00 Building
and Managing Visual Maps
15:50 Break
16:00 Real-time
and robust feature matching and description &
Creating larger maps and discovering
map structure
16:45 Navigation
and visual sensor planning
17:30 Demos
and final discussion
Place
and time
Humanoids
2009 tutorials will happen at the Université
Pierre et Marie Curie (UPMC),
Details of the actual rooms will be updated when known but travel information to the conference venue is below.
Registration
You can
register to the tutorial and or main conference via this page.
Travel
Information
Please
visit Humanoids 2009 travel page here.
A map of
the location of UPMC and other HUMANOIDS2009 venues is here