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DAFT & RGB-D Texture Feature Evaluation toolkit

These RGBD Datasets can be used to evaluate texture feature detectors & descriptors that use the depth information provided by a Kinect camera.

Parts of it were created for the publication [Distinctive Texture Features from Perspective-Invariant Keypoints] (implementation at ).
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            [abstract] => I started working as a research assistant at the Intelligent Autonomous Systems Group in December 2011 and I am mainly cooperating with Dejan Pangeric, Dipl.-Ing. I am mostly involved in robotics perception, however, I have very broad interests in robotics and machine learning fields. I am currently undertaking Master of Robotics, Cognition and Intelligence at Technical University of Munich.
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I'm a postdoctoral researcher supported from ERASMUS MUNDUS BEAM scholarship of European Commission. I got my Ph.D degree from the department of Mechanical and Aerospace Engineering of Seoul National University (advised by Prof. Frank C. Park) and worked as a postdoctoral researcher for Humanoid Robot Research Center (HUBO Lab) in 2011.
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Before I joined the Intelligent Autonomous Systems Group I studied Computer Science at TUM. I'm currently working on the import of knowledge from the world wide web into the knowledge base of our mobile robots. In particular, my current research focuses on understanding natural-language, in order to enable a robot to autonomously acquire new high-level skills by querying web pages such as eHow.com or wikiHow.com.
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            [abstract] => We are looking for the students to work on the following topics as within their B.Sc., M.Sc, Guided Research projects:

	*  In-hand object of daily use modelling (together with Slobodan Ilic)
	*  Robust and accurate object of daily use tracking for mobile manipulation ([decription], together with Sorin Grigorescu)
	*   Knowledge modeling for robot indoor mapping ([description], supervised by Ziyuan Liu)
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I obtained the Doctor in computer science from TUM in November 2011 for my thesis titled Knowledge Processing for Autonomous Robots. Previously, I studied Electrical Engineering and Information Technology at the RWTH Aachen, Germany, and Robotics and Embedded Systems at the ENSTA in Paris, France. I spent one year as an intern at the Accenture Technology Labs in …
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            [abstract] => Professors

	*  Prof. Dr. Bernd Radig
	*  Prof. Dr. Carsten Steger

Prof. Michael Beetz has moved to the University of Bremen in Summer 2012, and parts of the group will follow over the course of the next months. The website of the IAS group in Bremen can be found at .
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            [abstract] => Currently we have four robot platforms in our lab: PR2, TUM Rosie, iCub and Bender. The PR2 was provided by the Willow Garage Beta Program. TUM Rosie has been built around the KUKA-omnidirectional base and KUKA-lightweight LWR-4 arms. The iCub is a small-size humanoid robot being designed by the RobotCub Consortium, consisting of several European universities. B21 is the alumnus of robots in our robot-park.
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            [abstract] => Vorlesungen

	*  Technical Cognitive Systems (IN2222)
	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)

Seminar

	*  Master-Seminar: Robot Learning (IN2107, IN8901, IN4611)
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	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)
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    [creator] => Prof. Dr. Carsten Steger
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            [abstract] => Lectures

	*  Bildverstehen I: Methoden der industriellen Bildverarbeitung (IN2023)
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    [creator] => Moritz Tenorth
    [user] => tenorth
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            [tenorth] => Moritz Tenorth
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            [abstract] => Seminar

	*  Master-Seminar - Wissensrepräsentation in der künstlichen Intelligenz (IN2107, IN8901, IN4611)
	*  Master-Seminar - Mensch-Roboter Interaktion (IN2107, IN8901, IN4532)

Praktikum

	*  Master-Praktikum - Sensorgestützte intelligente Umgebungen (IN2106, IN8902, IN4053)
	*  Master-Praktikum - KI-basierte Robotersteuerung (IN2106, IN8902, IN4056)
	*  Master-Praktikum - Innovation@CoTeSys (IN2106, IN8902, IN4109)
        )

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            [sturmju] => Juergen Sturm
            [lohr] => Quirin Lohr
            [tenorth] => Moritz Tenorth
            [jain] => Dominik Jain
            [kirsch] => Dr. Alexandra Kirsch
            [weikersd] => David Tim Weikersdorfer
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            [abstract] => Large-scale integrative projects

	*  cotesys: Cognition for Technical Systems

Task-level planning and execution

	*  cram: Cognitive Robot Abstract Machine
	*  para: Planning for Adaptive Robot Assistance
	*  cogito: Plan-based control of robotic agents
        )

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            [tenorth] => Moritz Tenorth
            [jain] => Anand Dominik Jain
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    [title] => Software and data sets
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            [abstract] => Open-source software packages

	*  ROS stacks and packages: Contributions of the IAS Group to the Robot Operating System (ROS)
	*  The ProbCog Toolbox for Statistical Relational Learning and Reasoning: ProbCog designs and implements a software suite for statistical relational learning that is publicly available for download.
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    [creator] => Dejan Pangercic
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            [isikm] => Mehmet Can Isik
            [moesenle] => Lorenz Mösenlechner
            [hausman] => Karol Hausman
            [blodow] => Nico Blodow
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    [title] => Internal IAS Workshop on Knowrob, CRAM and Semantic Perception
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            [abstract] => NOTE: The content is subject to frequent changes, please check back regularly.

Purpose

The purpose of this workshop is to introduce some of the core technologies developed in the IAS group over the last years for knowledge-enabled service robotics to our freshmen, colleagues from Bremen and guests.
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    [creator] => Moritz Tenorth
    [user] => tenorth
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            [id] => events:knowledge-workshop-iros2011
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            [extra] => 
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    [title] => IROS 2011 Workshop: Knowledge Representation for Autonomous Robots
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            [abstract] => Over the past years, computers have made significant progress in mining knowledge from the web, aggregating information from different sources and using this knowledge to answer complex queries. Watson's recent victory over human jeopardy players impressively shows that very complex tasks in terms of knowledge acquisition, question answering, and natural language understanding can be solved nowadays.
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    [creator] => Dejan Pangercic
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    [title] => ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics
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            [abstract] => What: 

ICRA 2012 WORKSHOP 

Semantic Perception and Mapping for Knowledge-enabled Service Robotics (with interactive session and demonstrations) 

Where: 

ICRA 2012, St. Paul, Minnesota, USA (Room #9, River Centre) 

When: 

May 18th, 2012

Website: 


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            [abstract] => Summer schools and tutorials

	*  CoTeSys-ROS Fall School on Cognition Enabled Mobile Manipulation (November 2010)
	*  Player Summer School on Cognitive Robotics (August 2007)

Workshops

	*  Internal IAS Workshop on KnowRob, CRAM and Perception  (June 2012)
	*  ICRA 2012: Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics (May 2012)
	*  IROS 2011: Workshop on Knowledge Representation for Autonomous Robots (October 2011)
	*  euRobotics 2011: RGB-D Workshop on 3D P…
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Persönlicher Status und Werkzeuge

Home Events IROS 2011 Workshop: Knowledge Representation for Autonomous Robots

IROS 2011 Workshop: Knowledge Representation for Autonomous Robots

Over the past years, computers have made significant progress in mining knowledge from the web, aggregating information from different sources and using this knowledge to answer complex queries. Watson's recent victory over human jeopardy players impressively shows that very complex tasks in terms of knowledge acquisition, question answering, and natural language understanding can be solved nowadays.

So far, this technology has not been applied much in the robotics domain. We do, however, see a strong trend towards using semantic information, for instance in form of semantic maps, and believe that semantics will become more and more important. Robots will soon have to perform household tasks like cleaning up, setting a table or cooking simple meals. These tasks are extremely knowledge-intensive: To competently perform them, a robot needs a large amount of knowledge about properties of objects, actions required for a task, or execution problems that can arise.

In this workshop, we invite researchers from both robotics and knowledge representation to discuss the state of the art in robot knowledge processing, examine how formally represented knowledge can help robots in performing their tasks, and identify major research challenges that need to be addressed.

Program and Venue

The workshop takes place on Sunday, September 25, 2011, at the IROS conference site at the Hilton San Francisco Union Square, Continental Ball and Parlor room #7. More information can be found on the IROS conference website.

The workshop program and proceedings can be found here.

Intended audience

The primary audience are researchers working on knowledge-based systems in a robotics context. In addition, we want to bring together researchers in perception, manipulation, planning, and human-robot interaction who would like to include more semantic information into their systems.

List of Topics

  • Knowledge representation for robots: Which kinds of knowledge are required? Which representation formalisms are suitable for being used on autonomous robots? Which aspects (e.g. spatio-temporal reasoning, changes in objects and the environment over time) need to be modeled, and how can they be expressed in the chosen formalism?
  • Grounding and anchoring: Practical methods for grounding abstract symbols in percepts and actions, including the selection of the right object to be used for a task among multiple alternatives.
  • Hybrid Reasoning: AI methods typically focus on discrete, symbolic knowledge, but a robot also needs to reason about continuous, non-symbolic entities like time, geometry, and resources. How should the two types of reasoning be combined? Examples include hybrid task and motion planning, and combined planning and scheduling.
  • Knowledge acquisition: How to acquire the large amounts of knowledge required to competently act in human environments? Can web resources help robots with knowledge acquisition?
  • Knowledge exchange between robots: Knowledge acquisition and learning are complex and time-consuming tasks – can robots profit from sharing knowledge? Which kinds of knowledge can be exchanged, and how do they have to be processed to be used by a different robot?
  • Human-robot interaction: How can knowledge help robots to communicate with humans and understand dialogs? Which methods are required for disambiguating dialog situations and grounding words in actions and perceived objects?
  • Knowledge and perception: How can robots relate percepts to their background knowledge, and how can they use knowledge to improve perception?
  • Living with inconsistent knowledge: A robot's knowledge about the environment may become wrong or inconsistent due to sensor errors, outdated information or inappropriate knowledge exchange. How can the knowledge base handle this situation and still derive useful results from the remaining knowledge? Can these inconsistencies be detected and resolved?

Submissions

We invite papers of 4-6 pages in the standard IROS format. Submissions should describe clearly the problems to which knowledge processing techniques are applied, explain the methods that are being used, and give an outlook on challenges that need to be solved in the future.

Besides technical quality, the submissions will be judged by their novelty, their potential to generate discussion, and their ability to foster collaboration within the community.

Questions and submissions should be sent to Moritz Tenorth, tenorth-at-cs.tum.edu

Important Dates

  • Paper submission deadline: 25 May 2011
  • Notification of acceptance: 20 June 2011 (delayed to 22 June)
  • Submission of final papers: 3 July 2011 (extended due to late notification, HARD DEADLINE)

Organizing Committee

  • Michael Beetz, TU Munich
  • Rachid Alami, LAAS-CNRS, Toulouse
  • Joachim Hertzberg, Universitaet Osnabrueck
  • Alessandro Saffiotti, Orebro University
  • Moritz Tenorth, TU Munich
Last edited 14.02.2012 21:57 by tenorth