Vision Based Localization for Robots: metric, topological

and semantic mapping
GRAND Seminar 12:00 noon, Oct. 12, Tue., 2010, ENGR 4201

Ana C. Murillo
Assistant professor
Informatic and Engineering Systems Department
Researcher at the Robotics, Perception and Real Time Group
University of Zaragoza, Spain

Abstract:

In the last years, vision sensors have become widespread in many development areas, including robotics, due to several advantages they have with regard to other sensors. In this seminar, we will see some computer vision methods applied in robotics to solve one of the basic issues for any autonomous mobile device: to localize itself and to localize and recognize elements around it. Vision based localization can be solved at various semantic and abstraction levels. In particular, we will see examples of metric localization, using multi-view geometric constraints, topological localization/place recognition approaches and recognition/localization of objects of interest around the robot. Some of this examples, will be presented with experiments run with catadioptric vision systems, very popular in robotics fields, which provide wide field of view to the systems thanks to a curved mirror placed in front of the camera.

Bio:

Ana C. Murillo is an assistant professor at the Informatic and Engineering Systems Department, a researcher at the Robotics, Perception and Real Time Group, University of Zaragoza, Spain.