Persönlicher Status und Werkzeuge

Home People Zoltan-Csaba Marton

Events

Open Source Software World Challenge 2011

PCL won the Grand Prize!

http://ossaward.org/

PCL Tutorial at RSS 2011

Talk about some of the things I contributed to.

http://www.pointclouds.org/media/rss2011.html

Google Summer of Code 2011

Mentoring the project "Surface Reconstruction with Textures".

2nd BRICS Research Camp "From 3D sensing to 3D models"

Invited student, was working on a lightweight and easy to use object classification tool (updated code released as a PCL app).

http://www.best-of-robotics.org/BRICS-research-camps

ROS 3D Contest: Teleop Kinect Cleanup

A weekend's hack, but we got a few seconds of fame at Google I/O 2011: Cloud Robotics :)

http://www.ros.org/news/2011/02/ros-3d-entries-teleop-kinect-cleanup.html

CoTeSys-ROS Fall School on Cognition-enabled Mobile Manipulation

Organizer, worked on the lab sessions on 3D perception and object recognition.

http://www.ros.org/wiki/Events/CoTeSys-ROS-School

Player Summer School on Cognitive Robotics

First thing I helped out with as a graduate student... Good old days :)

http://www9.cs.tum.edu/events/psscr07/

Open Source Libraries

Point Cloud Library (PCL)

I mainly deal with surface reconstruction, 3D features/classification and general tools/algorithms.

http://pointclouds.org / http://dev.pointclouds.org

Mapping ROS-Stack

Working on model fitting, classification and semantic mapping.

http://code.in.tum.de/indefero/index.php//p/mapping/

Research

Research Topics

  • Probabilistic Model Fitting
  • Intelligent Perception
  • Semantic Mapping
  • 3D Geometric Reasoning
  • Automatic Model Inference
  • Multimodal 3D Localization
  • Laser Segmentation

Current Research Projects

  • EnvMod: We focus on point cloud based representation and reasoning techniques for building accurate and meaningful 3D maps for mobile robots in both indoor and outdoor environments. One of our main application and deployment scenario is the Assistive Kitchen. However, all our methods were carefully crafted with generality in mind, therefore they have been also successfully applied to outdoor urban, aerial, and underwater datasets.
  • CoP: The project aims at the unification of vision-based sensing in the CoP (Cognitive Perception) in the learning and planning system. On the one hand, CoP manages the interpretation of different kinds of sensors and on the other hand it automatically acquires and maintains the knowledge about the world and objects in the world. CoP selects sensors and sensor interpretation algorithms based on their expected utility. To this end, CoP learns and improves intersensor and inter-algorithmic models for method seleciton from experience. Especially the vision system, the major sensor we use, provides several automatic model improving techniques. Improved models accelerate the perception process and provide more robust results.

The old webpage of our research thread can be found here to get a general impression. We are currently in a transition period, but will upload our latest results as soon as possible. In the mean time feel free to contact us!

Videos

Some of the work I am/was involved with is presented in the following videos:

Robotic Roommates Shopping for and Preparing Bavarian Breakfast

TUM James Goes Shopping

Robotic Roommates Making Pancakes

General 3D Modelling of Novel Objects from a Single View

Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments

AdaptiveTriangulation

Acquisition of Static Environment Maps

Teaching

Publications

Journal Articles and Book Chapters

Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Oscar Martinez Mozos, Nico Blodow, Asako Kanezaki, Lucian Cosmin Goron, Dejan Pangercic, Michael Beetz), In Journal of Intelligent & Robotic Systems, Springer Netherlands, 2014. [bib]
Ensembles of Strong Learners for Multi-cue Classification (Zoltan-Csaba Marton, Florian Seidel, Ferenc Balint-Benczedi, Michael Beetz), In Pattern Recognition Letters (PRL), Special Issue on Scene Understandings and Behaviours Analysis, 2012. (In press.) [bib] [pdf]
Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation (Aitor Aldoma, Zoltan-Csaba Marton, Federico Tombari, Walter Wohlkinger, Christian Potthast, Bernhard Zeisl, Radu Bogdan Rusu, Suat Gedikli, Markus Vincze), In Robotics & Automation Magazine, IEEE, IEEE, volume 19, 2012. [bib]
Furniture Models Learned from the WWW -- Using Web Catalogs to Locate and Categorize Unknown Furniture Pieces in 3D Laser Scans (Oscar Martinez Mozos, Zoltan Csaba Marton, Michael Beetz), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf]
Combined 2D-3D Categorization and Classification for Multimodal Perception Systems (Zoltan Csaba Marton, Dejan Pangercic, Nico Blodow, Michael Beetz), In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf]
Towards 3D Point Cloud Based Object Maps for Household Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Michael Beetz), In Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge in Robotics), volume 56, 2008. [bib] [pdf]

Conference Papers

RoboSherlock: Unstructured Information Processing for Robot Perception (Michael Beetz, Ferenc Balint-Benczedi, Nico Blodow, Daniel Nyga, Thiemo Wiedemeyer, Zoltan-Csaba Marton), In IEEE International Conference on Robotics and Automation (ICRA), 2015. (Best Service Robotics Paper Award) [bib]
Feature based particle filter registration of 3D surface models and its application in robotics (Christian Rink, Zoltan-Csaba Marton, Daniel Seth, Tim Bodenmuller, Michael Suppa), In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib]
Sample consensus fitting of bivariate polynomials for initializing EM-based modeling of smooth 3D surfaces (Christian Nissler, Zoltan-Csaba Marton, Michael Suppa), In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib]
Combining object modeling and recognition for active scene exploration (Simon Kriegel, Manuel Brucker, Zoltan-Csaba Marton, Tim Bodenmuller, Michael Suppa), In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib]
Tracking-based Interactive Segmentation of Textureless Objects (Karol Hausman, Ferenc Balint-Benczedi, Dejan Pangercic, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. (Best Service Robotics Paper Award Finalist) [bib] [pdf]
Towards Modular Spatio-temporal Perception for Task-adapting Robots (Zoltan-Csaba Marton, Florian Seidel, Michael Beetz), In Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD), a satellite event of the 22nd International Conference on Artificial Neural Networks (ICANN), 2012. [bib]
Object Categorization in Clutter using Additive Features and Hashing of Part-graph Descriptors (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Nico Blodow, Lucian Cosmin Goron, Michael Beetz), In Proceedings of Spatial Cognition (SC), 2012. [bib] [pdf]
Segmenting Cylindrical and Box-like Objects in Cluttered 3D Scenes (Lucian Cosmin Goron, Zoltan Csaba Marton, Gheorghe Lazea, Michael Beetz), In 7th German Conference on Robotics (ROBOTIK), 2012. [bib] [pdf]
Efficient Part-Graph Hashes for Object Categorization (Ferenc Balint-Benczedi, Zoltan-Csaba Marton, Michael Beetz), In 5th International Conference on Cognitive Systems (CogSys), 2012. [bib] [pdf]
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments (Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf]
Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping (Lucian Cosmin Goron, Zoltan Csaba Marton, Gheorghe Lazea, Michael Beetz), In Joint 41st International Symposium on Robotics (ISR) and 6th German Conference on Robotics (ROBOTIK), 2010. [bib] [pdf]
General 3D Modelling of Novel Objects from a Single View (Zoltan-Csaba Marton, Dejan Pangercic, Nico Blodow, Jonathan Kleinehellefort, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf]
Hierarchical Object Geometric Categorization and Appearance Classification for Mobile Manipulation (Zoltan-Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Perception and Probabilistic Anchoring for Dynamic World State Logging (Nico Blodow, Dominik Jain, Zoltan-Csaba Marton, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Close-range Scene Segmentation and Reconstruction of 3D Point Cloud Maps for Mobile Manipulation in Human Environments (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
On Fast Surface Reconstruction Methods for Large and Noisy Point Clouds (Zoltan Csaba Marton, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009. [bib] [pdf]
Probabilistic Categorization of Kitchen Objects in Table Settings with a Composite Sensor (Zoltan Csaba Marton, Radu Bogdan Rusu, Dominik Jain, Ulrich Klank, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Partial View Modeling and Validation in 3D Laser Scans for Grasping (Nico Blodow, Radu Bogdan Rusu, Zoltan Csaba Marton, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf]
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems (Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, Moritz Tenorth), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. (Invited paper.) [bib] [pdf]
Action Recognition in Intelligent Environments using Point Cloud Features Extracted from Silhouette Sequences (Radu Bogdan Rusu, Jan Bandouch, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf]
Functional Object Mapping of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Emanuel Dolha, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Aligning Point Cloud Views using Persistent Feature Histograms (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Learning Informative Point Classes for the Acquisition of Object Model Maps (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20, 2008. [bib] [pdf]
Persistent Point Feature Histograms for 3D Point Clouds (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10), Baden-Baden, Germany, 2008. [bib] [pdf]
Towards 3D Object Maps for Autonomous Household Robots (Radu Bogdan Rusu, Nico Blodow, Zoltan-Csaba Marton, Alina Soos, Michael Beetz), In Proceedings of the 20th IEEE International Conference on Intelligent Robots and Systems (IROS), 2007. [bib] [pdf]

Workshop Papers

Furniture Classification using WWW CAD Models (Vladyslav Usenko, Florian Seidel, Zoltan-Csaba Marton, Dejan Pangercic Michael Beetz), In IROS’12 Workshop on Active Semantic Perception (ASP’12), 2012. [bib] [pdf]
Segmentation of Cluttered Scenes through Interactive Perception (Karol Hausman, Christian Bersch, Dejan Pangercic, Sarah Osentoski, Zoltan-Csaba Marton, Michael Beetz), In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf]
Segmentation of Textured and Textureless Objects through Interactive Perception (Christian Bersch, Dejan Pangercic, Sarah Osentoski, Karol Hausman, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012. [bib] [pdf]
Efficient Surface and Feature Estimation in RGBD (Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In RGB-D Workshop on 3D Perception in Robotics at the European Robotics (euRobotics) Forum, 2011. [bib] [pdf]
Voxelized Shape and Color Histograms for RGB-D (Asako Kanezaki, Zoltan-Csaba Marton, Dejan Pangercic, Tatsuya Harada, Yasuo Kuniyoshi, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf]
Inferring Generalized Pick-and-Place Tasks from Pointing Gestures (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf]
Advantages of Spatial-temporal Object Maps for Service Robotics (Zoltan-Csaba Marton, Nico Blodow, Michael Beetz), In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf]
Making Sense of 3D Data (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In Robotics: Science and Systems Conference (RSS), Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, 2010. [bib] [pdf]
Reconstruction and Verification of 3D Object Models for Grasping (Zoltan Csaba Marton, Lucian Cosmin Goron, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 14th International Symposium on Robotics Research (ISRR09), 2009. [bib] [pdf]
CoP-Man -- Perception for Mobile Pick-and-Place in Human Living Environments (Michael Beetz, Nico Blodow, Ulrich Klank, Zoltan Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu), In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Semantic Perception for Mobile Manipulation, 2009. (Invited paper.) [bib] [pdf]
Interpretation of Urban Scenes based on Geometric Features (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008. (Invited paper) [bib] [pdf]
Autonomous Mapping of Kitchen Environments and Applications (Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Moritz Tenorth, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf]

Other Publications

A Robot that Shops for and Stores Groceries (Dejan Pangercic, Koppany Mathe, Zoltan-Csaba Marton, Lucian Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz), AAAI Video Competition (AIVC 2011), 2011. [bib]
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Last edited 22.09.2012 16:49 by marton