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美国德州A&M大学宋德臻教授学术报告

出处:浙江大学流体动力与机电系统国家重点实验室   更新时间:2017-07-27 15:03:42    您是第0位浏览者

报告人:宋德臻教授

 

    间:2017-7-28(周五)15:00-16:00

 

    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:

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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) 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。