报告人：宋德臻教授
时 间：2017-7-28（周五）15:00-16:00
地 点：玉泉校区新液压楼304会议室
欢迎各位老师和同学的积极参加！
From Autonomous Motorcycle to Bridge Deck Scanning: Visual Navigation for Size and Power Constrained Mobile Robots
从无人摩托车到桥面检测：大小和动力有限的移动机器人上的视觉导航
Abstract: In this talk, I report our 14 years’ research in algorithms and systems designed to assist size and power limited robots/vehicles to perform self-navigation in both outdoor and indoor environments, and their applications ranging from self-driving cars to bridge deck inspection. I will begin with how we develop world’s first autonomous motorcycle and our entrance to Darpa Grand Challenges 2004 and 2005, where we design an appearance-based approach for the autonomous motorcycle to navigate in desert terrain. For GPS-challenged environments, we investigate different visual features to improve robustness and speed for simultaneous localization and mapping (SLAM) algorithms. We develop high-level landmark-based SLAM algorithms to help low cost robots with a monocular cameras to obtain the same level localization accuracy as the robot with sophisticated sensors. To handling large lighting variations, we also develop a point and line-based approach visual odometry method for robots with RGB-D cameras. At the end, we will discuss our recent development on a featureless motion-vector based SLAM and its application in bridge deck scanning. We employ a sensor fusion approach that combines visual SLAM with ground penetration radar, lidar, and GPS inputs to map subsurface and surface cracks in the bridge deck for freeway maintenance.
个人简介：
宋德臻博士目前是德州A&M大学计算机系的终生教授。宋德臻于2004年在加州大学伯克利分校的运筹学系获得博士学位，主攻机器人方向。他的硕士学位是工业自动化，学士学位是过程控制, 都是毕业于浙江大学。宋博士的研究方向是机器人感知技术，网络机器人，计算视觉，以及概率模型。宋博士是国际电机电气工程师联合会（IEEE）的机器人与自动化分会（RAS）下网络机器人技术委员会的创始人和副主席（2007-2009）。宋博士发表了一本专著，九个章节，八十多篇期刊和会议论文。他曾获得国际机器人和自动化大会（ICRA） 的最佳自动化论文奖（和J. Yi， S. Ding一起）。宋博士在2007年获得美国国家自然科学基金会的青年科学家(CAREER)奖。宋博士曾担任多个机器人权威期刊的副编辑，包括IEEE Transactions on Robotics, (2008-2012), IEEE Transactions on Automation Science and Engineering (2010-2014)， 和IEEE Robotics and Automation Letters (2015-)。宋博士还是国际最权威最畅销的机器人学手册（Springer Handbook of Robotics）的章节作者和多媒体编辑。