Robot Vision SS 2013 Matthias Rüther 1

710.088 ROBOT VISION 2VO 1KU

Matthias Rüther, Christian Reinbacher

Robot Vision SS 2013 Matthias Rüther 2

Administrative

VO: 12x Tuesday 14:30-16:00 HS i11

http://www.icg.tugraz.at/courses/lv710.088/infoNews: 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

Robot Vision SS 2013 Matthias Rüther 3

Robots that „see“ (or want to see)

Robot Vision SS 2013 Matthias Rüther 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

Robot Vision SS 2013 Matthias Rüther 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

Robot Vision SS 2013 Matthias Rüther 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

Robot Vision SS 2013 Matthias Rüther 7

Statistics

World Robotics 2010, Executive Summary (www.worldrobotics.org)

Robot Vision SS 2013 Matthias Rüther 8

Statistics

World Robotics 2010, Executive Summary (www.worldrobotics.org)

Robot Vision SS 2013 Matthias Rüther 9

Statistics

World Robotics 2010, Executive Summary (www.worldrobotics.org)

Robot Vision SS 2013 Matthias Rüther 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)

Robot Vision SS 2013 Matthias Rüther 11

Applications

Commercial: Body Scanning

http://rvlab.icg.tugraz.at/project_page/project_virtual_dressingroom/project_virtual_dressingroom.htm

Robot Vision SS 2013 Matthias Rüther 12

Applications

Microscopy: Fracture Analysis

http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

Robot Vision SS 2013 Matthias Rüther 13

Applications

Structured Light: Part Analysis

                                                                             

                                                             

                                                         

http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

Robot Vision SS 2013 Matthias Rüther 14

Applications

Visual SLAM

                                                             

                                                         

http://rvlab.icg.tugraz.at/project_page/project_monoslam/project_monoslam.htm

Robot Vision SS 2013 Matthias Rüther 15

Applications

Robotic Welding

                                                                             

                                                             

                                                         

http://rvlab.icg.tugraz.at/project_page/project_weldpath_tracking/project_weldpath_tracking.htm

Robot Vision SS 2013 Matthias Rüther 16

Applications

Catadioptric Pose Estimation

                                                                             

                                                             

                                                         

http://rvlab.icg.tugraz.at/project_page/project_silhouette/project_silhouette.htm

Robot Vision SS 2013 Matthias Rüther 17

Applications

Stereoscopic Field Application

                                                                             

                                                             

                                                         

http://rvlab.icg.tugraz.at/project_page/project_giant_honeybees/project_giant_honeybees.htm