[robotics-worldwide] Final Program: ICRA 2009 Workshop on Visual Mapping and Navigation in Outdoor Environments

Stefan Williams stefanw at acfr.usyd.edu.au
Wed May 6 14:32:12 PDT 2009



   IEEE ICRA 2009 Workshop on Visual Mapping and Navigation in Outdoor 


The full-day workshop "Visual Mapping and Navigation in Outdoor
Environments" will be held during the 2009 IEEE International Conference
on Robotics and Automation (ICRA) in Kobe, Japan, on May 12, 2009.

The problem of navigation and mapping using vehicles equipped with
sensors has been an extremely active research area in robotics during
the last 20 years. Excellent results have been reported by many
researchers, but until recently the most successful systems required the
use of laser range-finder sensors and predominantly aimed to build 2D
maps of planar environments. More recently, researchers have started to
tackle larger and less structured environments by taking their vehicles
outdoors. At the same time, the price of digital cameras has fallen
steeply with a comparable increase in resolution and speed, opening the
possibility of using such information rich sensors to obtain much more
detail from the environments, beyond the capabilities of bulkier and
more expensive laser sensors. This full-day workshop will present recent
advances in this field, with a focus on the use of visual sensors for
navigation and mapping in challenging outdoor environments: urban,
suburban, offroad, underwater, and airborne.

Time  	Speakers and title of the talk

9:00 - 9:05 	Inauguration

9:05 - 9:30 	View-Based maps: Kurt Konolige - Willow Garage, USA

9:30 - 9:55 	Outdoor Navigation. Mapping and Understanding with Vision 
and Laser: Paul Newman - Oxford University, UK

9:55 - 10:20 	Fast Relative Motion Estimation from a Single Feature 
Correspondence by Exploiting Nonholonomic Constraints: Davide Scaramuzza 
- ETH Zurich, Switzerland

10:20 - 10:45 	Coffee

10:45 - 11:10 	Monocular and Stereo SLAM in Large Environments: Juan D. 
Tardós - University of Zaragoza, Spain

11:10 - 11:35 	A Random Set Approach to SLAM: Martin Adams - Nanyang 
Technological University, Singapore

11:35 - 12:00 	A Relative Formulation for Scalable Real-time 6DOF Visual 
SLAM: Gabe Sibley - Oxford University, UK

12:00 - 13:30 	Lunch

13:30 - 13:55 	EKF-based Sequential Bayesian Structure From Motion: 
J.M.M. Montiel - University of Zaragoza, Spain

13:55 - 14:20 	Learning Efficient Policies for Vision-based Navigation: 
Maren Bennewitz - University of Freiburg, Germany:

14:20 - 14:45 	Finding Multiple Lanes with Vision and Lidar: Albert 
Huang - Massachusetts Institute of Technology, USA

14:45 - 15:10 	Coffee

15:10 - 15:35 	Multi-Dimensional Mapping, Tracking and Classification 
using Inertial/Vision/GPS on a UAV: Salah Sukkarieh - University of 
Sydney, Australia:

15:35 -16:00 	Monocular Vision-Based SLAM for Autonomous Underwater 
Vehicles: An Application to Autonomous Ship Hull Inspection: Ryan 
Eustice - University of Michigan, USA:

16:00 - 16:25 	Simultaneous Localisation and Mapping and Dense 
Stereoscopic Seafloor Reconstruction using an AUV: Stefan Williams and 
Ian Mahon - University of Sydney, Australia

16:25 - 17:00 	Discussion and concluding remarks



* Jose Neira, University of Zaragoza, Spain
* Cyrill Stachniss, University of Freiburg, Germany
* Stefan Williams, University of Sydney, Australia

The workshop proceedings will be published electronically as a pdf

The Journal of Field Robotics is considering a request to publish a 
special issue on Visual Mapping and Navigation Outdoors in connection 
with this workshop.  An open call for papers will be issued after the 
workshop and submissions will go through a separate peer review process.

Should you have any questions about the workshop, please do not hesitate 
to contact the organizers.

Stefan, Jose and Cyrill

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