1. Robot Vision SS 2013 Matthias Rüther 1 710.088 ROBOT VISION 2VO 1KU Matthias Rüther, Christian Reinbacher

2. 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/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

3. Robot Vision SS 2013 Matthias Rüther 3 Robots that „see“ (or want to see)

4. 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

5. 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

6. 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

7. Robot Vision SS 2013 Matthias Rüther 7 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

8. Robot Vision SS 2013 Matthias Rüther 8 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

9. Robot Vision SS 2013 Matthias Rüther 9 Statistics World Robotics 2010, Executive Summary (www.worldrobotics.org)

10. 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)

11. 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

12. Robot Vision SS 2013 Matthias Rüther 12 Applications Microscopy: Fracture Analysis http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

13. Robot Vision SS 2013 Matthias Rüther 13 Applications  Structured Light: Part Analysis http://rvlab.icg.tugraz.at/project_page/project_microsense/project_microsense.htm

14. Robot Vision SS 2013 Matthias Rüther 14 Applications  Visual SLAM http://rvlab.icg.tugraz.at/project_page/project_monoslam/project_monoslam.htm

15. Robot Vision SS 2013 Matthias Rüther 15 Applications  Robotic Welding http://rvlab.icg.tugraz.at/project_page/project_weldpath_tracking/project_weldpath_tracking.htm

16. Robot Vision SS 2013 Matthias Rüther 16 Applications  Catadioptric Pose Estimation http://rvlab.icg.tugraz.at/project_page/project_silhouette/project_silhouette.htm

17. 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