IURS02

IURS 2002 - EURON Summer School on Visual Servoing

EURON Summer School
on Visual Servoing

Benicàssim, Spain
September 16-20, 2002



Presentation

Visual servoing is an approach to the control of robots based on visual perception, involving the use of cameras to control the position of the robot relative to the environment as required by the task.

This multi-disciplinary approach spans computer vision, robotics, control, and real-time systems.

The availability of fast cost-effective vision systems has created a growing interest in this topic. Organized by the EURON Interest Group on Visual Servong, this summer school will provide a comprehensive overview of the key topics and state of the art in visual servoing.

Documents

List of lecturers

·         François Chaumette, IRISA / INRIA, Rennes (France)

·         Koichi Hashimoto, U. of Tokyo (Japan)

·         Ezio Malis, INRIA, Sophia Antipolis (France)

·         Frederic Jurie, LASMEA - Blaise Pascal University (France)

·         Philippe Martinet, LASMEA - Blaise Pascal University (France)

·         Enric Cervera, RI Lab - Jaume-I University (Spain)

·         Danica Kragic, KTH, Royal Institute of Technology (Sweden)

·         Joris De Schutter, Dept. Mechanical Engineering, KU Leuven (Belgium)

·         Pedro J. Sanz, RI-Lab, Jaume-I University (Spain)

·         Tobias Ortmaier, Institute of Robotics and Mechatronics, DLR (Germany)

      ·         Nicolas Andreff, IFMA, Blaise Pascal University (France)

Final Program

 

Sunday 15

 19:30 – 20:30, Bonaire Hotel. Registration, and welcome reception.

 

Monday 16

 8:00 – 8:30. Bonaire Hotel. Registration. Summer School opening.

 From 8:30 to 17:30. Bonaire Hotel. Lectures.

 8:30 – 10:15. Introduction (P. Martinet)

§         Basic concepts

§         Visual servoing roadmap

§         Robot platforms

§         Rigid body motion

§         Homogeneous transformations

§         Kinematic screw

10:15 – 10:45. Break

10:45 – 12:30. Camera Geometry (E. Malis)

§         Geometric modeling

§         Pose computation

§         Epipolar geometry

§         Colineation

§         Homography

12:30 – 14:00. Lunch

14:00 – 15:30. Visual Servoing I (F. Chaumette)

§         Visual information modeling

§         Camera configurations

15:30 – 16:00. Break

16:00 – 17:30. Visual Servoing II (F. Chaumette)

§         2D features

o        Points

o        Segments

o        Other

§         Path planning

o        Optimal trajectory

o        Potential field method

 

Tuesday 17

From 8:30 to 17:30. Bonaire Hotel. Lectures.

8:30 – 10:15. Visual Servoing III (E. Cervera)

§         3D features

§         Stereo features

10:15 – 10:45. Break

10:45 – 12:30. Task Function Approach (P. Martinet)

§         Sensor-based control

§         Virtual link

§         Hybrid task

§         Secondary task examples

12:30 – 14:00. Lunch

14:00 – 15:30. Robustness and Real-World Issues (D. Kragic)

§         SVM-based recognition of everyday objects

§         2D image-based tracking; integration of different cues

§         3D model-based tracking and pose estimation

§         Vision-tactile integration

15:30 – 16:00. Break

16:00 – 17:30. Vision-based Dexterous Manipulation (P. J. Sanz)

§         Vision-based grasping

§         Dealing with unknown objects

§         Grasping computation and execution

 

Wednesday 18

From 9:00 to 17:30. Jaume-I University. Laboratory work.

8:30. Pickup at Azor Hotel

9:00 – 10:45. Laboratory work I

10:45 – 11:15. Break

11:15 – 13:00. Laboratory work II

13:00 – 14:30. Lunch at university

14:30 – 15:45. Laboratory work III

15:45 – 16:15. Break

16:15 – 17:30. Laboratory work IV

17:30. Transfer back to Azor Hotel


Thursday 19

From 8:30 to 15:30. Bonaire Hotel. Lectures.

8:30 – 10:15. Visual Tracking (F. Jurie)

§         Survey of tracking algorithms

§         Image information and motion

§         Estimation of motion parameters

§         Prediction

§         Real-time template matching

10:15 – 10:45. Break

10:45 – 12:30. Force / Vision Integration (J. De Schutter)

§         Hybrid control structure

§         Theoretical 2D contour following

§         Dynamic control aspects

§         Vision / Force control loops

§         Force sensing

§         Tracking error identification

12:30 – 14:00. Lunch

14:00 – 15:30. Visual Servoing with Lines(N. Andreff)

§         Problem formulation

§         Control law

§         Experiments

§         Applications

15:30. Free afternoon

 

Friday 20

From 8:30 to 17:30. Bonaire Hotel. Lectures.

8:30 – 10:15. Medical Applications of Visual Servoing (T. Ortmaier)

§         Minimally invasive surgery

§         Visual tracking

§         Multisensory robot control

§         Teleoperation concepts

10:15 – 10:45. Break

10:45 – 12:30. Uncalibrated Visual Servoing (E. Malis)

§         Invariance versus intrinsic parameters

§         Global stability

§         Calibration errors

12:30 – 14:00. Lunch

14:00 – 15:30. Visual Servoing Challenges (K. Hashimoto)

§         High-speed visual servoing

§         Switching control law

§         Path-planning experiments

15:30 – 16:00. Break

16:00 – 17:30. Panel discussion (F. Chaumette, K. Hashimoto, E. Malis, ...)

§         Achievements

§         Open issues

17:30. Goodbye reception. Handout of attestations.

 

Sponsors

The summerschool is sponsored by the EU robotics research network - EURON, the Spanish Ministry of Science and Tecnology under grant TIC2001-5156-E, the Valencian Government under grant CTCOOR/2002/42, Fundació Caixa Castelló - Bancaixa, and the Department of Computer Science and Engineering of Jaume-I University.