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DTSTART:20131027T030000
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DTSTART:20130331T020000
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UID:calendar.6724.field_data.0@www.u-gov-ricerca.uniroma1.it
DTSTAMP:20260407T014651Z
CREATED:20130904T060036Z
DESCRIPTION:A consistent estimation of the 3D structure of the environment 
 with areliable localization (SLAM problem) is a fundamental requirement fo
 rproviding a mobile robot with autonomous navigation capabilities.Using vi
 sion to achieve this task (Visual SLAM) offers the benefit ofproviding ple
 nty of information (geometric and photometric) relevant toanalyze the perc
 eived scene.In this talk\, we present methods to tackle the Visual SLAM pr
 oblem inboth the sparse and the dense map representation cases.In the spar
 se setting\, we propose an epipolar geometry-based VisualOdometry framewor
 k designed to address the specific problem of motionestimation robust to m
 otion blur\, and a stochastic filtering approach tothe visual-inertial nav
 igation problem that moreover allows automaticcalibration between the came
 ra and a low-cost IMU. The IMU intrinsiccalibration problem is also faced\
 , proposing an easy to implement procedurethat well approximates the class
 ical\, high cost\, mechanical procedure.In the dense setting\, we present 
 a system able to infer the densestructure of the environment\, represented
  by a piecewise smooth surface\,along with the ego-motion of the camera by
  performing a robust trackingof the projection of this surface in the imag
 e. Short BioAlberto Pretto is one of the members of the Intelligent Autono
 mousSystems Laboratory (IAS-Lab) of the University of Padua since 2003.Pre
 tto's main research interests are in the field of Robot Vision andRobot Na
 vigation. He received his 'Laurea' in Computer Science at theUniversity of
  Padua (Italy) in 2003 and in 2009 he got his Ph.D.degree in Information E
 ngineering from the University of Padua. In2004 and 2005\, he has been wor
 king as software engineer at PadovaRicerca Scpa. In 2005\, he is one of th
 e funders of IT+Robotics Srl\, aspin-off company of the University of Padu
 a working on robotics andmachine vision. From 2009 to 2010\, and from 2011
  he is a post-doc research fellow at the Department of Information Enginee
 ring of the University of Padua. He is currently doing research on robot v
 isual exploration\, visual SLAM and object recognition\, in cooperation wi
 th the UCLA VisionLab of prof. Stefano Soatto\, Los Angeles (USA)\, where 
 he spent a 9 months visiting research fellowships between 2011 and 2012.
DTSTART;TZID=Europe/Paris:20130909T120000
DTEND;TZID=Europe/Paris:20130909T120000
LAST-MODIFIED:20130908T111548Z
LOCATION:Aula Magna
SUMMARY:Visual SLAM: sparse\, dense and inertial aided mapping   -  Alberto
  Pretto
URL;TYPE=URI:http://www.u-gov-ricerca.uniroma1.it/node/6724
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