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| RI | Seminar | September 26 |
Robotics
Institute Seminar, September 26
Time
and Place | Seminar
Abstract | Speaker
Biography | Speaker
Appointments
Vision-based control for field robots
Peter Corke
CSIRO (Commonwealth Scientific Research and Industrial Organisation), Australia
Mauldin Auditorium (NSH 1305)
Refreshments 3:15 pm
Talk 3:30 pm
Vision-based control, or visual servoing, is the use of low-level visual features, such as contours or moments, that can be computed quickly to provide input to a control system. Vision is used as a sensor in a similar way to how we would use an encoder or a gyroscope. Visual servoing is a planning-free approach to control that provides a practical alternative to the sense, model, plan, and act paradigm. Visual servoing provides a control solution that avoids solving difficult problems such as scene interpretation and pose estimation.
In this this talk I will briefly introduce the main approaches to vision-based control and then present some applications to field robotic systems. The applications include large-scale systems for the mining industry, performing tasks such as excavation, autonomous haulage and explosive loading. I will also discuss some more recent work in vision-based stabilization of a small-scale helicopter and pose control of a non-holonomic outdoor mobile robot.
Peter Corke is a Senior Principal Research Scientist at CSIRO, Australia's national R&D agency. He led a research team that has developed many field robotic systems with a focus on mining industry applications. He holds B.Eng and M.Eng.Sc degrees, both in electrical engineering, and a PhD, all from the University of Melbourne. He is an adjunct professor at the Australian National University and the University of Queensland, and is a member of the editorial board of the International Journal of Robotics Research.
He is currently a Visiting Scientist at the Robotics Institute, and has had previous visiting positions at the Coordinated Science Laboratory at UIUC and the GRASP Laboratory at U. Penn.
Speaker
Appointments
For appointments, please contact Sanjiv Singh (ssingh@ri.cmu.edu)