Seminar: Image Understanding

Topics:

• Camera Model | RGBD-Camera Registration
• 3D-Feature Detectors and Descriptors
• Hough Transformation
• RANSAC | ICP
• Object Recognition
• Object Detection
• Object Model Reconstruction
• Human Detection
• Probability Theory
• Tracking Algorithms
• Watson | RoboSherlock

Nähere Informationen zum Ablauf des Seminars finden sich hier

For a general overview about perception in robotics students are encouraged to look at the following paper :

• Vision for Robotics, Markus Vincze and Danica Kragic in Foundations and Trends in Robotics Vol. 1, No. 1 (2010) 1–78 [pdf]

• Richard Szeliski: Computer Vision:Algorithms and Applications, Chapter 14 (link),
• Collet et.al. Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation

• Wikipedia is normally a great place for geting familiar with these algorithms
• Papzov et.el. An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes
• Find more applications of these algorithms in robotics e.g.:

• Forsyth et.al. Computational Studies of Human Motion: Part 1, Tracking and Motion Synthesis(pdf)
• Pons-Moll et.al. Metric Regression Forests for Human Pose Estimation( pdf)