User Tools
people: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.htmlGoogle 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-campsROS 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-SchoolPlayer 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.orgMapping 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
Robotic Roommates Making Pancakes
Teaching
Sensor-enabled Intelligent Environments (Sensorgestützte intelligente Umgebungen) - Practical Course
- Winter Semester 2011
- Summer Semester 2011
- Winter Semester 2010
- Summer Semester 2010
- Winter Semester 2009
- Summer Semester 2009
- Winter Semester 2008
- Summer Semester 2008
Intelligent Systems - Seminar
Tutoring
Discrete Mathematics (Diskrete Strukturen) - Winter Semester 2009Publications
Journal Articles and Book Chapters
| Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes , In Journal of Intelligent & Robotic Systems, Springer Netherlands, 2014. [bib] |
| Ensembles of Strong Learners for Multi-cue Classification , 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 , 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 , In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf] |
| Combined 2D-3D Categorization and Classification for Multimodal Perception Systems , In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf] |
| Towards 3D Point Cloud Based Object Maps for Household Environments , 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 , 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 , 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 , In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib] |
| Combining object modeling and recognition for active scene exploration , In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib] |
| Tracking-based Interactive Segmentation of Textureless Objects , 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 , 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 , In Proceedings of Spatial Cognition (SC), 2012. [bib] [pdf] |
| Segmenting Cylindrical and Box-like Objects in Cluttered 3D Scenes , In 7th German Conference on Robotics (ROBOTIK), 2012. [bib] [pdf] |
| Efficient Part-Graph Hashes for Object Categorization , In 5th International Conference on Cognitive Systems (CogSys), 2012. [bib] [pdf] |
| Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments , 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 , 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 , 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 , In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
| Perception and Probabilistic Anchoring for Dynamic World State Logging , 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 , 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 , 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 , 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 , 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 , In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf] |
| The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems , 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 , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf] |
| Functional Object Mapping of Kitchen Environments , 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 , 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 , 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 , 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 , 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 , In IROS’12 Workshop on Active Semantic Perception (ASP’12), 2012. [bib] [pdf] |
| Segmentation of Cluttered Scenes through Interactive Perception , 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 , In RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012. [bib] [pdf] |
| Efficient Surface and Feature Estimation in RGBD , 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 , 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 , 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 , In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf] |
| Making Sense of 3D Data , 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 , 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 , 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 , 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 , 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 , AAAI Video Competition (AIVC 2011), 2011. [bib] |
people/marton.txt · Last modified: 2012/09/22 16:49 by marton
