IEEE HUMANOIDS 2009
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
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.
Research students and academics interested in using vision as a main or primary sensor in real-time humanoid mapping and localisation.
14:00 Greetings and brief Introduction
14:05 Basics of Visual Localisation
15:00 Building and Managing Visual Maps
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
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.
You can register to the tutorial and or main conference via this page.
Please visit Humanoids 2009 travel page here.
A map of the location of UPMC and other HUMANOIDS2009 venues is here