Technische Universität München Robotics and Embedded Systems
 

Vision-Based Robot Exploration

 
Organizer Elmar Mair, M.Sc., Juan Carlos Ramirez de la Cruz, M.Sc.
Module IN2107
Type Master Seminar
Semester WS 2009/2010
ECTS 4.0
SWS 2
Language English
Preliminary Talk Thursday, 16. July 2009 09:00 MI 03.07.023
Time & Room to be announced

News

The course is cancelled this term due to too less participants.

The registration is now open. The number of participants is limited to 10.

Registration

Please register by email to ramirezd@in.tum.de .

Please provide following information:

Overview

Two main problems of the mobile robot navigation are global localization and environment perception: without a map the robot cannot localize itself and not knowing its own pose prevents it to build a proper map. Hence, these two problems have to be solve simultaneously, which leads to the so called SLAM approaches.

Cameras are more and more popular in robotics because they are passive (non-invasive), compact, cheap, and their power consumption is low. Nowadays the algorithms and the processing capabilities of modern computers are powerful enough to deal with the cameras' drawbacks, namely the huge amount of data and the difficulties to extract the desired data out of them. That is why the vision based SLAM (VSLAM) permanentely grows.

In the seminar we are going to deal with the state-of-the-art of following topics:

Topics

Date Title Lecturer Adviser
- Simultaneaous Localization and Mapping   Juan Carlos Ramirez de la Cruz or Elmar Mair
- Detection and Tracking of Point Features, Tomasi and
Good Features To Track, Shi
  Juan Carlos Ramirez de la Cruz or Elmar Mair
- MonoSLAM: Real-Time Single Camera SLAM, Davison   Juan Carlos Ramirez de la Cruz or Elmar Mair
- The vSLAM Algorithm for Robust Localization and Mapping, Karlsson   Juan Carlos Ramirez de la Cruz or Elmar Mair
- Interacting multiple model monocular SLAM, Civera   Juan Carlos Ramirez de la Cruz or Elmar Mair
- A comparison of loop closing techniques in monocular SLAM, Williams   Juan Carlos Ramirez de la Cruz or Elmar Mair
- View-Based Maps, Konolige   Juan Carlos Ramirez de la Cruz or Elmar Mair
- Real time localization and 3d reconstruction, Mouragnon   Juan Carlos Ramirez de la Cruz or Elmar Mair
- Augmenting Inertial Navigation with Image-Based Motion Estimation, Roumeliotis   Juan Carlos Ramirez de la Cruz or Elmar Mair