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We have been looking into the vision tasks in many robotic systems. Vision is a popular sensor for autonomous robots. Understanding the environment around and deciding the appropriate control tasks is a challenging task. Though, many different sensors have been tried out in robotic tasks, vision has been found to be the most appropriate for scalability. Also this makes the perception system of machines more intuitive.
We have looked into the vision based control for camera and robot motion. This involves sensing the world around (in 2D), planning the path and trajectory in 3D and designing the appropriate control signal for stable motion of the robots.
We have also looked into the indoor and outdoor navigation with the help of images. We used image retrieval methods for qualitative localization and appropriate geometric computations for quantitative localization and planning. We have also looked into the hybrid (learning+geometry) perception techniques for navigation and planning.
Specific activities in this area include:
* Visual servoing.
* Image based localization and navigation
* Hybrid (Topological and Metric) methods in navigation.
* Scene analysis for characterizing natural outdoor.
* Machine learning for enhanced visual perception.
Related Papers:
* A.H. Abdul Hafez, Supreeth Achar, and C.V. Jawahar "Visual Servoing based on Gaussian Mixture Models" in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'2008). May 19th-23rd 2008, Pasadena California
* A.H. Abdul Hafez, Visesh Chari and C.V. Jawahar "Combining Texture and Edge Planar Tracker based on a local Quality Metric" in Proc. of IEEE International Conference on Robotics and Automation(ICRA'07), Roma, Italy, 2007.
* A.H. Abdul Hafez and C.V. Jawahar "Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function" in Proc. of IEEE International Conference on Robotics and Automation(ICRA'07), Roma, Italy, 2007.
* D. Santohs and C.V. Jawahar "Visual Servoing in Non-Regid Environment: A Space -Time Approach" in Proc. of IEEE International Conference on Robotics and Automation (ICRA'07), Roma, Italy, 2007.
* D. Santosh, Supreeth Achar, C.V. Jawahar "Autonomous Image-based Exploration for Mobile Robot Navigation" in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'2008). May 19th-23rd 2008, Pasadena California
* A.H. Abdul Hafez, Anil Kumar Nelakanti and C.V. Jawahar "Path Planning Approach to Visual Servoing with Feature Visibility Constraints : A Convex Optimization based Solution" in Proceedings of the 2007 IEEE International Conference on Intelligent Robots and Systems, pp. 1981-1986, San Diego, USA, 29th Oct to 2nd Nov, 2007
Related Thesis:
* Vision based Robot Navigation using an On-line Visual Experience
Santosh Kumar, Year of Completion : 2007
* Towards Large Scale Image Based Robot Navigation
Supreeth Achar, Year of Completion : 2009
Faculty
- C V Jawahar
- Madhava Krishna
- P J Narayanan
(Head)
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