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Mobile robots

Research supported by EU projects NIFTi (2010-2013) and TRADR (2014-2017)

Localization and mapping

campus_yard_3d
  • Video: building_map_gbuilding_yard
  • V. Kubelka, L. Oswald, F. Pomerleau, F. Colas, T. Svoboda, and M. Reinstein. Robust data fusion of multi-modal sensory information for mobile robots. In Journal of Field Robotics, 2014, in press. [pdf]

Robot perception

prague_rail_yard_mov_0075
adaptive-traversability-prato
  • Video: NIFTi_Adaptive_Traversability_Y4review_Prato
  • Flippers tilted automatically. Various terrain at Prato training facility.
  • K. Zimmermann, P. Zuzanek, M.Reinstein, V.Hlavac. Adaptive Traversability of Unknown Complex Terrain with Obstacles for Mobile Robots, In IEEE Int. Conf. on Robotics and Automation, ICRA 2014, pp. 5177-5182, 2014 [pdf]
cardet01
  • Video: cardet01
  • A visual detector detects cars at variaous angles, 3D is estimated from the relevant Lidar data.
  • K. Zimmermann, D. Hurych, T. Svoboda. Non-Rigid Object Detection with Local Interleaved Sequential Alignment (LISA). In IEEE Transactions on Pattern Analysis and Machine Intelligence, April 2014, Vol 36, Issue 4 ; [pdf] – revised version
nifti-victim-detection
  • TRADR Project: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response [pdf]. Overview of the TRADR project.
  • Czech TV “Wifina” – “The Wifi”, CT:D children channel, part of a programme with various parts, one of which is always dedicated to technical things.
  • Czech TV “Lovci zahad” – Mysteryr hunters, CT:D channel a science popularization series – Raise of the Cyborgs (9/18) – featuring our robot.
  • More CMP demos.
  • NIFTI_OVERVIEW_2013 (a pdf presentation)

All CMP Publications related to the project NIFTi

Cerman and Hlavac(2012)
Lukas Cerman and Vaclav Hlavac. Tracking with context as a semi-supervised learning and labeling problem. In ICPR ’12: Proceedings of 21st International Conference on Pattern Recognition, pages 2124-2127, New York, USA, November 2012. IAPR, IEEE. ISBN 978-4-9906441-0-9. CD-ROM. [BibTeX],
Derner(2012)
Erik Derner. Car detection on a mobile robot by fusing visual and 3D lidar data, June 2012. ISSN 1213-2365. [BibTeX], [Derner-TR-2012-10.pdf]
Derner et al.(2010)
Erik Derner, Tomas Svoboda, and Karel Zimmermann. Random ferns for keypoint recognition, image matching and tracking – implementation and experiments. Research Report CTU-CMP-2010-16, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, October 2010. [BibTeX], [Derner-TR-2010-16.pdf]
Dupac et al.(2011)
Jan Dupac, Jirí Matas, and Vaclav Hlavac. Ultra-fast tracking based on zero-shift points. Research Report CTU-CMP-2011-04, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic, May 2011. [BibTeX], [Dupac-TR-2011-04.pdf]
Fojtu et al.(2013)
Simon Fojtu, Karel Zimmermann, Tomas Pajdla, and Vaclav Hlavac. Domain adaptation for sequential detection. In Joni-Kristian Kamarainen and Markus Koskela, editors, SCIA 2013: Proceedings of the 18th Scandinavian Conference on Image Analysis, volume 7944 of Lecture Notes in Computer Science, pages 215-224, Heidelberg, Germany, June 2013. Aalto University, Finland, Springer. ISBN 978-3-642-38885-9. doi: rm10.1007/978-3-642-38886-6_21. [BibTeX], PDF
Gianni et al.(2011)
Mario Gianni, Panagiotis Papadakis, Fiora Pirri, Ming Liu, Francois Pomerleau, Francis Colas, Karel Zimmermann, Tomas Svoboda, Tomas Petricek, Geert Kruijff, Harmisn Khambhaita, and Hendrik Zender. A unified framework for planning and execution-monitoring of mobile robots. In Sanem Sariel-Talay, Stephen F. Smith, and Nilufer Onder, editors, Automated Action Planning for Autonomous Mobile Robots: Papers from the AAAI Workshop (WS-11-09), pages 39-44, Menlo Park, USA, August 2011. AAAI Press. ISBN 978-1-57735-525-0. URL http://www.aaai.org/ocs/index.php/WS/AAAIW11/paper/view/3852. [BibTeX],
Hlavac et al.(2013)
Vaclav Hlavac, Geert-Jan Kruijff, and Michal Reinstein. Natural human-robot cooperation in dynamic environments: Lessons learned. In International Conference on Military Technologies 2013, pages 1279-1286, Brno, Czech Republic, May 2013. University of Defence, University of Defence. ISBN 978-80-7231-918-3. CD-ROM. [BibTeX],
Hurych et al.(2011a)
David Hurych, Karel Zimmermann, and Tomas Svoboda. Detection of unseen patches trackable by linear predictors. In Andreas Wendel, Sabine Stering, and Martin Godec, editors, CVWW ’11: Proceedings of the 16th Computer Vision Winter Workshop, pages 107-114, Inffeldgasse 16/II, Graz, Austria, February 2011a. Graz University of Technology – Institute for Computer Graphics and Vision, Graz University of Technology. ISBN 978-3-85125-129-6. URL ftp://cmp.felk.cvut.cz/pub/cmp/articles/hurycd1/cvww2011.pdf. [BibTeX], [hurych-CVWW2011.pdf]
Hurych et al.(2011b)
David Hurych, Karel Zimmermann, and Tomas Svoboda. Fast learnable object tracking and detection in high-resolution omnidirectional images. In Leonid Mestetskiy and Jose Braz, editors, Proceedings of VISAPP 2011 International Conference on Computer Vision Theory and Applications, pages 521-530, Setubal, Portugal, March 2011b. INSTICC – Institute for Systems and Technologies of Information, Control and Communication, INSTICC-Institute for Systems and Technologies of Information, Control and Communication. ISBN 978-989-8425-47-8. URL ftp://cmp.felk.cvut.cz/pub/cmp/articles/hurycd1/visapp2011.pdf. [BibTeX], [hurych-VISAPP2011.pdf]
Klinger(2012)
Miloslav Klinger. Automatic classification of the Parkinson’s patient stiffness from a single videosequence. MSc Thesis CTU-CMP-2012-01, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, January 2012. [BibTeX], [Klinger-TR-2012-01.pdf]
Kruijff et al.(2014)
Geert-Jan Kruijff, Miroslav Janicek, Shanker Keshavdas, Benoit Larochelle, Hendrik Zender, Nanja Smets, Tina Mioch, Mark Neerincx, Jurriaan van Diggelen, Francis Colas, Ming Liu, Francois Pomerleau, Roland Siegwart, Vaclav Hlavac, Tomas Svoboda, Tomas Petricek, Michal Reinstein, Karel Zimmermann, Fiora Pirri, Mario Gianni, Panagiotis Papadakis, Arnab Sinha, Patrick Balmer, Nicola Tomatis, Rainer Worst, Thorsten Linder, Hartmut Surmann, Viatcheslav Tretyakov, Salvatore Corrao, and Sylvia Pratzler-Wanczura. Experience in system design for human-robot teaming in urban search & rescue. In Kazuya Yoshida, editor, Field and Service Robotics (FSR), 2012 8th International Conference on, volume 92 of Springer Tracts in Advanced Robotics, pages 111-125, July 2014. ISBN 978-3-642-40685-0. doi: rm10.1007/978-3-642-40686-7_8. [BibTeX],
Kubelka(2013)
Vladimir Kubelka. Data fusion for a mobile exploratory robot. MSc Thesis CTU-CMP-2013-10, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, June 2013. [BibTeX], [Kubelka-TR-2013-10.pdf]
Kubelka and Reinstein(2012)
Vladimír Kubelka and Michal Reinstein. Complementary filtering approach to orientation estimation using inertial sensors only. In Lynne Parker, editor, ICRA2012: Proceedings of 2012 IEEE International Conference on Robotics and Automation, pages 599-605, Madison, USA, May 2012. IEEE Robotics and Automation Society, Omnipress. ISBN 978-1-4673-1405-3. doi: rm10.1109/ICRA.2012.6224564. [BibTeX],
Kubelka and Svoboda(2011)
Vladimír Kubelka and Tomas Svoboda. Nifti lidar-camera calibration. Research Report CTU-CMP-2011-15, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, December 2011. [BibTeX], [Kubelka-TR-2011-15.pdf]
Nouza(2012)
Tomas Nouza. Localization of mobile robots for exploration using cloud services, June 2012. ISSN 1213-2365. [BibTeX], [Nouza-TR-2013-07.pdf]
Petricek and Svoboda(2012)
Tomas Petricek and Tomas Svoboda. Area-weighted surface normals for 3d object recognition. In ICPR ’12: Proceedings of 21st International Conference on Pattern Recognition, pages 1492-1496, 10662 Los Vaqueros Circle, Los Alamitos, USA, November 2012. IEEE Computer Society. ISBN 978-4-9906441-0-9. [BibTeX],
Petrícek(2012)
Tomas Petrícek. 3d object recognition and pose estimation – PhD thesis proposal. Research Report CTU-CMP-2012-19, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, August 2012. [BibTeX], [Petricek-TR-2012-19.pdf]
Petrícek and Svoboda(2010)
Tomas Petrícek and Tomas Svoboda. Matching by normalized cross-correlation–reimplementation, comparison to invariant features. Research Report CTU-CMP-2010-09, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, July 2010. [BibTeX], [Petricek-TR-2010-09.pdf]
Reinstein et al.(2013)
Michal Reinstein, Vladimir Kubelka, and Karel Zimmermann. Terrain adaptive odometry for mobile skid-steer robots. In Lynne Parker, editor, ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation, pages 4706-4711, Piscataway, USA, May 2013. IEEE Robotics and Automation Society, IEEE. ISBN 978-1-4673-5641-1. doi: rm10.1109/ICRA.2013.6631247. CD-ROM. [BibTeX],
Reinstein and Hoffmann(2013)
Michal Reinstein and Matej Hoffmann. Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information. IEEE Transactions on Robotics, 29(2):563-571, April 2013. ISSN 1552-3098. doi: rm10.1109/TRO.2012.2228309. [BibTeX],
Sedlacek(2012)
Filip Sedlacek. Autonomous flipper control for a tracked robot using 2D vertical laser scan, June 2012. ISSN 1213-2365. [BibTeX], [Sedlacek-TR-2012-11.pdf]
Sedlacek and Svoboda(2012)
Filip Sedlacek and Tomas Svoboda. Filtering false positives of a visual object detector using 3D laser data. Research Report CTU-CMP-2012-04, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, February 2012. [BibTeX], [Sedlacek-TR-2012-04.pdf]
Shekhovtsov(2013)
Alexander Shekhovtsov. Exact and Partial Energy Minimization in Computer Vision. PhD Thesis CTU-CMP-2013-24, Center for Machine Perception, K13133 FEE Czech Technical University in Prague, Prague, Czech Republic, December 2013. Supervisor-specialist: Tomas Werner. [BibTeX], [Shekhovtsov-TR-2013-24.pdf]
Shekhovtsov and Hlavac(2010)
Alexander Shekhovtsov and Vaclav Hlavac. Joint image GMM and shading MAP estimation. In Roy Sterritt, editor, ICPR’2010: Proceedings of the 20th International Conference on Pattern Recognition, pages 1360-1363, Los Alamitos, USA, August 2010. IEEE Computer Society, IEEE Computer Society. ISBN 978-0-7695-4109-9. [BibTeX], [pdf, 883 KB]
Shekhovtsov and Hlavac(2011a)
Alexander Shekhovtsov and Vaclav Hlavac. A distributed mincut/maxflow algorithm combining path augmentation and push-relabel. Research Report K333-43/11, CTU-CMP-2011-03, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic, June 2011a. [BibTeX],
Shekhovtsov and Hlavac(2011b)
Alexander Shekhovtsov and Vaclav Hlavac. A distributed mincut/maxflow algorithm combining path augmentation and push-relabel. In Y. Boykov, F. Kahl, V. Lempitsky, and F.R. Schmidt, editors, Proceedings of the 8th International Conference on Energy Minimization Methods in Computer Vision and Pattern Recognition (EMMCVPR), volume 6819 of Lecture Notes in Computer Science, pages 1-16, Berlin, Germany, July 2011b. Springer. ISBN 978-3-642-23093-6. [BibTeX],
Shekhovtsov and Hlavac(2011c)
Alexander Shekhovtsov and Vaclav Hlavac. On partial opimality by auxiliary submodular problems. Control Systems and Computers, 232(2):71-78, 2011c. ISSN 0130-5395. Special Issue. [BibTeX],
Shekhovtsov and Hlavac(2013)
Alexander Shekhovtsov and Vaclav Hlavac. A distributed mincut/maxflow algorithm combining path augmentation and push-relabel. International Journal of Computer Vision, 104(3):315-342, September 2013. ISSN 0920-5691. doi: rm10.1007/s11263-012-0571-2. [BibTeX], [www.springerlink.com]
Shekhovtsov et al.(2011)
Alexander Shekhovtsov, Pushmeet Kohli, and Carsten Rother. Curvature prior for MRF-based segmentation and shape inpainting. Research Report CTU-CMP-2011-11, Center for Machine Perception, K13133 FEE Czech Technical University, Prague, Czech Republic, September 2011. [BibTeX], [curvature_patterns-2011-TR-ar.pdf]
Shekhovtsov et al.(2012)
Alexander Shekhovtsov, Pushmeet Kohli, and Carsten Rother. Curvature prior for MRF-based segmentation and shape inpainting. In Axel Pinz, Thomas Pock, Horst Bischof, and Franz Leberl, editors, DAGM/OAGM 2012: Pattern Recognition – Joint 34th DAGM and 36th OAGM Symposium, volume 7476 of Lecture Notes in Computer Science, pages 41-51, Heidelberg, Germany, August 2012. Springer. ISBN 978-3-642-32716-2. doi: rm10.1007/978-3-642-32717-9. [BibTeX],
Zimmermann et al.(2011)
Karel Zimmermann, David Hurych, and Tomas Svoboda. Improving cascade of classifiers by sliding window alignment in between. In G. Sen Gupta, Donald Bailey, Serge Demidenko, and Dale Carnegie, editors, Proceedings of the Fifth International Conference on Automation, Robotics and Applications, pages 196-201, Private Bag 11 222, Palmerston North, New Zealand, December 2011. School of Engineering and Advanced Technology, Massey University, Massey University. ISBN 978-1-4577-0328-7. URL ftp://cmp.felk.cvut.cz/pub/cmp/articles/hurycd1/icara2011.pdf. CD-ROM. [BibTeX], [zimmermann-ICARA2011.pdf]
Zimmermann et al.(2013)
Karel Zimmermann, David Hurych, and Tomas Svoboda. Exploiting features – locally interleaved sequential alignment for object detection. In K.M. Lee, Y. Matsushita, J.M. Rehg, and Z. Hu, editors, Computer Vision – ACCV 2012, 11th Asian Conference on Computer Vision, volume 7724, pages 437-450, Tiergartenstrasse 17, 69 121, Heidelberg, Germany, November 2013. School of Engineering and Advanced Technology, Massey University, Springer. ISBN 978-3-642-37330-5. doi: rm10.1007/978-3-642-37331-2_34. URL ftp://cmp.felk.cvut.cz/pub/cmp/articles/hurycd1/hurych-accv2012.pdf. USB flash. [BibTeX], [hurych-ACCV2012.pdf]
Zimmermann et al.(2014)
Karel Zimmermann, David Hurych, and Tomas Svoboda. Non-rigid object detection with local interleaved sequential alignment (lisa). Pattern Analysis and Machine Intelligence, IEEE Transactions on, 36(4):731-743, April 2014. ISSN 0162-8828. doi: rm10.1109/TPAMI.2013.171. [BibTeX], [PDF] – revised version
Zuzanek et al.(2013)
Petr Zuzanek, Karel Zimmermann, and Vaclav Hlavac. Detection of Curvilinear Objects in Aerial Images. In Walter G. Kropatsch, Geetha Ramachandran, and Fuensanta Torres, editors, CVWW 2013: Proceedings of the 18th Computer Vision Winter Workshop, pages 9-15, Karlsplatz 13, Vienna, Austria, February 2013. Vienna University of Technology. ISBN 978-3-200-02943-9. [BibTeX],