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学术报告:Driving with One Eye Open: Monocular Visual Teach & Repeat

报告题目:Driving with One Eye Open: Monocular Visual Teach & Repeat
报告人:Jonathan Kelly(加拿大多伦多大学)
时间:2016年3月21日上午10:00
地点:大学城校园工学二号馆机电工程学院205会议室



Abstract:

Visual Teach and Repeat (VT&R) allows an autonomous robot to accurately repeat a previously followed route using only vision sensors. Most VT&R systems rely on stereo cameras for mapping and localization, but many existing mobile robots are equipped with only 2D monocular vision, typically for teleoperation. Can we enable reliable visual navigation for these sensor-constrained platforms? In this talk, I will describe a monocular VT&R system we have developed that uses only approximate information about the pose of the camera on the robot, and yet is able to successfully repeat kilometer-scale routes with accuracy on par with its stereo counterpart. This is possible with only a small tradeoff in robustness.

Biography:

Prof. Kelly carries out research on perception for robotic systems, with the goal of building highly independent machines for a variety of assistive tasks. Prior to joining the University of Toronto, he was a Postdoctoral Associate in the Robust Robotics Group at MIT, where he developed algorithms to enable micro air vehicles (MAVs) to fly safely in cluttered environments. He holds a bachelor's degree and a master’s degree from the University of Alberta, Canada, and a master’s degree from the University of Southern California, USA. He received his PhD from USC, where he was an Annenberg Fellow. His doctoral dissertation explored methods for combining visual and inertial sensing for navigation applications - a topic that his lab is continuing to explore today.

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