Text of Robot Vision SS 2013 Matthias Rüther 1 710.088 ROBOT VISION 2VO 1KU Matthias Rüther,...
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Robot Vision SS 2013 Matthias Rther 1 710.088 ROBOT VISION 2VO 1KU Matthias Rther, Christian Reinbacher
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Robot Vision SS 2013 Matthias Rther 2 Administrative VO: 12x Tuesday 14:30-16:00 HS i11 http://www.icg.tugraz.at/courses/lv710.088/info News: tu-graz.lv.robot_vision_ue Exam: Written (02.07.2012) in last VO Oral Exam if Requested KU: 33 Students registered 10 Groups of 3 students Target Effort: ~1week per student
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Robot Vision SS 2013 Matthias Rther 3 Robots that see (or want to see)
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Robot Vision SS 2013 Matthias Rther 4 What does seeing mean? Acquire image(s) Photon Sensor, Optics, Illumination Transfer to Processor Reliably, fast, real-time, long-distance, low noise 2D Image Processing Feature Detection, Image Segmentation, Image Understanding,... Reconstruct 3D information Geometry, Multi-View Geometry, Camera Geometry, Shape from X Feedback and Manipulation Robot Control, Kinematic Control, Robot Navigation, Visual Servoing
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Robot Vision SS 2013 Matthias Rther 5 Topics Multiple View Geometry: How to algebraically represent points/lines/planes How to define mappings on these How to estimate these Linear Algebra (vectors, matrices, matrix decompositions) Hardware and Sensors Cameras, light sources, optics, data transfer, processors Depth Recovery How to estimate/measure 3D information from images RGBD Cameras, Lasers, Projector-Camera Systems, Multi-Cam Systems Robotics How to model static/mobile robots Robot Vision Visual Odometry, VSLAM, Robotic Metrology, Visual Servoing
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Robot Vision SS 2013 Matthias Rther 6 Literature Hartley R., Zissermann A., Multiple View Geometry in Computer Vision, Cambridge, Second Edition. Sebastian Thrun, Wolfram Burgard and Dieter Fox: Probabilistic Robotics Lecture Slides Web resources
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Robot Vision SS 2013 Matthias Rther 7 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)
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Robot Vision SS 2013 Matthias Rther 8 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)
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Robot Vision SS 2013 Matthias Rther 9 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)
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Robot Vision SS 2013 Matthias Rther 10 Vision Sensors Passive (Multi-) Camera Systems [Yasutaka Furukawa and Jean Ponce, Accurate, Dense, and Robust Multi-View Stereopsis, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2009.] Active Vision Sensors (Emitter/Receiver)
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Robot Vision SS 2013 Matthias Rther 11 Applications Commercial: Body Scanning http://rvlab.icg.tugraz.at/project_page/project_virtual_dressingroom/project_virtual_dressingroom.htm
