NEWS MERL researcher, Oncel Tuzel, gives keynote talk at 2016 International Symposium on Visual Computing
Date released: January 8, 2016
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NEWS MERL researcher, Oncel Tuzel, gives keynote talk at 2016 International Symposium on Visual Computing Date:
December 14, 2015 - December 16, 2015
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Where:
Las Vegas, NV, USA
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Description:
MERL researcher, Oncel Tuzel, gave a keynote talk at 2016 International Symposium on Visual Computing in Las Vegas, Dec. 16, 2015. The talk was titled: "Machine vision for robotic bin-picking: Sensors and algorithms" and reviewed MERL's research in the application of 2D and 3D sensing and machine learning to the problem of general pose estimation.
The talk abstract was: For over four years, at MERL, we have worked on the robot "bin-picking" problem: using a 2D or 3D camera to look into a bin of parts and determine the pose, 3D rotation and translation, of a good candidate to pick up. We have solved the problem several different ways with several different sensors. I will briefly describe the sensors and the algorithms. In the first half of the talk, I will describe the Multi-Flash camera, a 2D camera with 8 flashes, and explain how this inexpensive camera design is used to extract robust geometric features, depth edges and specular edges, from the parts in a cluttered bin. I will present two pose estimation algorithms, (1) Fast directional chamfer matching--a sub-linear time line matching algorithm and (2) specular line reconstruction, for fast and robust pose estimation of parts with different surface characteristics. In the second half of the talk, I will present a voting-based pose estimation algorithm applicable to 3D sensors. We represent three-dimensional objects using a set of oriented point pair features: surface points with normals and boundary points with directions. I will describe a max-margin learning framework to identify discriminative features on the surface of the objects. The algorithm selects and ranks features according to their importance for the specified task which leads to improved accuracy and reduced computational cost. -
External Link:
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Research Area:
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Related Publications
- , "Learning to Rank 3D Features", European Conference on Computer Vision (ECCV), DOI: 10.1007/978-3-319-10590-1_34, September 2014, vol. 8689, pp. 520-535.
BibTeX TR2014-078 PDF- @inproceedings{Tuzel2014sep,
- author = {Tuzel, O. and Liu, M.-Y. and Taguchi, Y. and Raghunathan, A.U.},
- title = {Learning to Rank 3D Features},
- booktitle = {European Conference on Computer Vision (ECCV)},
- journal = {European Conference on Computer Vision (ECCV)},
- year = 2014,
- volume = 8689,
- series = {Lecture Notes in Computer Science},
- pages = {520--535},
- month = sep,
- doi = {10.1007/978-3-319-10590-1_34},
- issn = {0302-9743},
- isbn = {978-3-319-10589-5},
- url = {https://www.merl.com/publications/TR2014-078}
- }
- , "Voting-based Pose Estimation for Robotic Assembly Using a 3D Sensor", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA.2012.6225371, May 2012, pp. 1724-1731.
BibTeX TR2012-032 PDF- @inproceedings{Choi2012may,
- author = {Choi, C. and Taguchi, Y. and Tuzel, O. and Liu, M.-Y. and Ramalingam, S.},
- title = {Voting-based Pose Estimation for Robotic Assembly Using a 3D Sensor},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2012,
- pages = {1724--1731},
- month = may,
- doi = {10.1109/ICRA.2012.6225371},
- url = {https://www.merl.com/publications/TR2012-032}
- }
- , "Fast Object Localization and Pose Estimation in Heavy Clutter for Robotic Bin Picking", International Journal of Robotics Research, May 2012.
BibTeX TR2012-007 PDF- @article{Liu2012may,
- author = {Liu, M.-Y. and Tuzel, O. and Veeraraghavan, A. and Taguchi, Y. and Marks, T.K. and Chellappa, R.},
- title = {Fast Object Localization and Pose Estimation in Heavy Clutter for Robotic Bin Picking},
- journal = {International Journal of Robotics Research},
- year = 2012,
- month = may,
- url = {https://www.merl.com/publications/TR2012-007}
- }
- , "Finding a Needle in a Specular Haystack", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA.2011.5979857, May 2011, pp. 5963-5970.
BibTeX TR2011-082 PDF- @inproceedings{Shroff2011may,
- author = {Shroff, N. and Taguchi, Y. and Tuzel, O. and Veeraraghavan, A. and Ramalingam, S. and Okuda, H.},
- title = {Finding a Needle in a Specular Haystack},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2011,
- pages = {5963--5970},
- month = may,
- doi = {10.1109/ICRA.2011.5979857},
- url = {https://www.merl.com/publications/TR2011-082}
- }
- , "Fast Directional Chamfer Matching", IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2010.
BibTeX TR2010-045 PDF- @inproceedings{Liu2010jun,
- author = {Liu, M.-Y. and Tuzel, C.O. and Veeraraghavan, A.N. and Chellappa, R.},
- title = {Fast Directional Chamfer Matching},
- booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
- year = 2010,
- month = jun,
- url = {https://www.merl.com/publications/TR2010-045}
- }
- , "Pose Estimation in Heavy Clutter Using a Multi-Flash Camera", IEEE International Conference on Robotics and Automation (ICRA), May 2010.
BibTeX TR2010-024 PDF- @inproceedings{Liu2010may,
- author = {Liu, M.-Y. and Tuzel, C.O. and Veeraraghavan, A.N. and Chellappa, R. and Agrawal, A.K. and Okuda, H.},
- title = {Pose Estimation in Heavy Clutter Using a Multi-Flash Camera},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2010,
- month = may,
- url = {https://www.merl.com/publications/TR2010-024}
- }
- , "Learning to Rank 3D Features", European Conference on Computer Vision (ECCV), DOI: 10.1007/978-3-319-10590-1_34, September 2014, vol. 8689, pp. 520-535.
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