Detailed Programme

9:00-10:10
KEYNOTE TALK
Visual recognition: from Internet images towards robots that see
Josef Sivic

ORAL SESSION I

Session Chair: Ivan Markovic

10:40 - 11:00
Real-time Vision-based Depth Reconstruction with NVidia Jetson
Andrey Bokovoy¹, Kirill Muravyev², and Konstantin Yakovlev^1
1Federal Research Center "Computer Science and Control" of Russian Academy of Sciences, Russia
²Moscow Institute of Physics and Technology, Russia

11:00 - 11:20
OnboardDepth: Depth Prediction for Onboard Systems
Anelia Angelova, Devesh Yamparala, Justin Vincent, and Chris Leger
Google, United States

11:20 - 11:40
Stereo Event Lifetime and Disparity Estimation for Dynamic Vision Sensors
Antea Hadviger, Ivan Marković, and Ivan Petrović
University of Zagreb Faculty of Electrical Engineering and Computing, Croatia

11:40 - 12:00
Object-RPE: Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks for Warehouse Robots
Dinh-Cuong Hoang, Todor Stoyanov, and Achim Lilienthal
Orebro University, Sweden

12:00 - 12:20
Tools for Visualizing, Annotating and Storing Triangle Meshes in ROS and RViz
Sebastian Pütz, Thomas Wiemann, and Joachim Hertzberg
University of Osnabrück, Germany

Session Chair: Francesco Amigoni

10:40 - 11:00
Emergency Landing Aware Surveillance Planning for Fixed-wing Planes
Petr Váňa, Jan Faigl, and Jakub Sláma
Czech Technical University in Prague, Czechia

ORAL SESSION IV

Session Chair: TBS

 

 

13:50 - 14:10

Vision-based  Navigation  Using  Deep  Reinforcement  Learning

Jonáš Kulhánek1, Erik Derner2, Tim de Bruin1, and Robert Babuška1

1Delft University of Technology, Netherlands

2Czech Technical University in Prague, Czechia

 

14:10 - 14:30

Visual-Inertial Teach \& Repeat for Aerial Robot Navigation

Matias Alejandro Nitsche1, Facundo Pessacg1, and Javier Civera2

1Instituto de Investigación en Ciencias de la Computación (ICC-CONICET), Argentina

2Universidad de Zaragoza, Spain

 

14:30 - 14:50

Joint Vision-Based Navigation, Control and Obstacle Avoidance for UAVs in Dynamic Environments

Ciro Potena1, Daniele Nardi1, and Alberto Pretto2

1Sapienza University of Rome, Italy

2IT+Robotics S.r.l., Italy

 

14:50 - 15:10

Towards Life-Long Autonomy of Mobile Robots Through Feature-Based Change Detection

Erik Derner1, Clara Gomez2, Alejandra C. Hernandez2, Ramon Barber2, and Robert Babuska3

1Czech Technical University in Prague, Czechia

2Universidad Carlos III de Madrid, Spain

3Delft University of Technology, Netherlands

 

15:10 - 15:30

Learning Path Tracking for Real Car-like Mobile Robots From Simulation

Danial Kamran, Junyi Zhu, and Martin Lauer

Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany

Session Chair: Tomáš Krajník

13:50 - 14:10
Vision-based  Navigation  Using  Deep  Reinforcement  Learning
Jonáš Kulhánek¹, Erik Derner², Tim de Bruin¹, and Robert Babuška^1
1Delft University of Technology, Netherlands
²Czech Technical University in Prague, Czechia

14:10 - 14:30
Visual-Inertial Teach \& Repeat for Aerial Robot Navigation
Matias Alejandro Nitsche¹, Facundo Pessacg¹, and Javier Civera^2
1Instituto de Investigación en Ciencias de la Computación (ICC-CONICET), Argentina
²Universidad de Zaragoza, Spain

14:30 - 14:50
 Joint Vision-Based Navigation, Control and Obstacle Avoidance for UAVs in Dynamic Environments 
Ciro Potena¹, Daniele Nardi¹, and Alberto Pretto^2
1Sapienza University of Rome, Italy
²IT+Robotics S.r.l., Italy

14:50 - 15:10
Towards Life-Long Autonomy of Mobile Robots Through Feature-Based Change Detection
Erik Derner¹, Clara Gomez², Alejandra C. Hernandez², Ramon Barber², and Robert Babuska^3
1Czech Technical University in Prague, Czechia
²Universidad Carlos III de Madrid, Spain
³Delft University of Technology, Netherlands

15:10 - 15:30
Learning Path Tracking for Real Car-like Mobile Robots From Simulation
Danial Kamran, Junyi Zhu, and Martin Lauer
Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany

POSTER SESSION II

Session Chair: Bruno Lacerda

Poster 1
Optimal Trajectory Planning for Autonomous Drone Cinematography
Bahareh Sabetghadam¹, Alfonso Alcántara², Jesús Capitán², Rita Cunha³, Aníbal Ollero², and Antonio Pascoal^3
1Universidade de Lisboa, Iran
²University of Seville, Spain
³Universidade de Lisboa, Portugal

Poster 2
Performance of RGB-D camera for different object types in greenhouse conditions
Ola Ringdahl¹, Polina Kurtser², and Yael Edan^3
1Department of Computing Science, Umea University, Sweden
²Örebro University, Sweden
³Ben-Gurion University of the Negev, Israel

Poster 3
An Integral-Model Predictive Controller with Finite Memory for Trajectory Tracking
Can Ulas Dogruer
Hacettepe University, Turkey

Poster 4
Semantic Interaction in Augmented Reality Environments for Microsoft HoloLens
Peer Schütt, Max Schwarz, and Sven Behnke
University of Bonn, Germany

Poster 5
Towards combining a neocortex model with entorhinal grid cells for mobile robot localization
Stefan Schubert, Peer Neubert, and Peter Protzel
TU Chemnitz, Germany

Poster 6
Loop Closure Detection in Closed Environments
Nils Rottmann, Ralf Bruder, Achim Schweikard, and Elmar Rueckert
University of Luebeck, Germany

Poster 7
Semantic Localization through Propagation of Scene Information in a Hierarchical Model
Clara Gomez¹, Alejandra C. Hernandez², Erik Derner³, and Ramon Barber^4
1Universidad Carlos III de Madrid, Spain
²Unniversidad Carlos III de Madrid, Spain
³Czech Technical University in Prague, Czechia
⁴University Carlos III of Madrid, Spain

Poster 8
Design of Powered Wearable Elbow Brace for Rehabilitation Applications at Clinic and Home
Kevin Bancud¹, Patrik Kutilek¹, and Vaclav Krivanek^2
1Czech Technical University in Prague, Czechia
²University of Defence, Czechia

Poster 9
Long-Horizon Active SLAM system for multi-agent coordinated exploration
Marie Ossenkopf¹, Gastón Castro², Facundo Pessacg², Kurt Geihs¹, and Pablo De Cristóforis^2
1Distributed Systems Group, University of Kassel, Germany
²University of Buenos Aires (UBA-CONICET-ICC), Argentina

Poster 10
Spatio-Semantic ConvNet-Based Visual Place Recognition
Luis G. Camara and Libor Přeučil
Czech Institute of Informatics, Robotics and Cybernetics, CVUT,  Prague, Czechia

Poster 11
A Sampling-Based Algorithm for Planning Smooth Nonholonomic Paths
Carolina Beretta, Cecilia Brizzolari, Davide Tateo, Alessandro Riva, and Francesco Amigoni
Politecnico di Milano, Italy

Poster 12
Place Recognition Based on Planar Surfaces Using Multiple RGB-D Images Taken From the same Position
Robert Cupec¹, Damir Filko², and Emmanuel Karlo Nyarko^2
1Faculty of Electrical Engineering, Computer Science and  Information Technologies, J. J. Strossmayer Univ. of Osijek, Croatia
²Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Croatia

Poster 13
A comparative analysis of radar and lidar sensing for localization and mapping
Malcolm Mielle, Martin Magnusson, and Achim J. Lilienthal
Örebro University, Sweden

Poster 14
Sensor Aware Lidar Odometry
Dmitri Kovalenko, Mikhail Korobkin, and Andrey Minin
Yandex LLC, Russia

Friday, September 6^th

9:00-10:10
KEYNOTE TALK
Learning in Safety-critical Control Systems  - A Model Predictive Control Approach
Melanie Zeilinger

POSTER SESSION III

Session Chair: Luis G. Camara

Poster 1
A Loop Shaping Method for Stabilising a Riderless Bicycle
Tom Andersson, Niklas Persson, Anas Fattouh, and Martin C. Ekström
Mälardalen University, Sweden

Poster 2
Semantic Scene Segmentation of Unordered Point Clouds on Autonomous Robots
Ya Wang and Andreas Zell
Univeristy of Tuebingen, Germany

Poster 3
Localization of Humans in Warehouse based on Rack Detection
Karel Košnar, Gaël Ecorchard, and Libor Přeučil
Czech Technical University in Prague, Czech Institute of Informatics, Robotics and Cybernetics, Czechia

Poster 4
Sensor-based algorithm for collision-free avoidance of mobile robots in complex dynamic environments
Dimitri Leca, Viviane Cadenat, and Thierry Sentenac
LAAS-CNRS, France

Poster 5
Indoor Scene Recognition based on Weighted Voting Schemes
Alejandra C. Hernández¹, Clara Gomez¹, Erik Derner², and Ramón Barber^1
1Universidad Carlos III de Madrid, Spain
²Czech Technical University in Prague, Czechia

Poster 6
Ship Hull Repair Using A Swarm Of Autonomous Underwater Robots - A Self-Assembly Algorithm
Matthew Haire, Xu Xu, Lyuba Alboul, Jacques Penders, and Hongwei Zhang
Sheffield Hallam University, United Kingdom

Poster 7
Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS
Cassandra McCord, Jorge Peña Queralta, Tuan Nguyen Gia, and Tomi Westerlund
University of Turku, Finland

Poster 8
Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration
Jeremie Deray¹, Joan Sola², and Juan Andrade-Cetto^2
1IRI UPC, PAL Robotics, Spain
²IRI UPC, Spain

Poster 9
Campus Guide: A Lidar-based Mobile Robot
Minghao Liu, Zhixing Hou, Zezhou Sun, Ning Yin, Hang Yang, Ying Wang, Zhiqiang Chu, and Hui Kong
Nanjing University of Science and Technology, China

Poster 10
Traversal Cost Modeling Based on Motion Characterization for Multi-legged Walking Robots
Miloš Prágr, Petr Cizek, and Jan Faigl
Czech Technical University in Prague, Czechia

Poster 11
Autonomous Robots as Actors in Robotics Theatre - Tribute to the Centenary of R.U.R.
Dominik Petrovic, Luka Kicinbaci, Frano Petric, and Zdenko Kovacic
University of Zagreb, Croatia

Poster 12
Segmentation of Depth Images into Objects Based on Polyhedral Shape Class Model
Robert Cupec, Damir Filko, and Petra Đurović
Faculty of Electrical Engineering, Computer Science and  Information Technologies, J. J. Strossmayer Univ. of Osijek, Croatia

Poster 13
Lifelong Mapping using Adaptive Local Maps
Nandan Banerjee, Dimitri Lisin, Jimmy Briggs, Martin Llofriu, and Mario Munich
iRobot Corporation, United States

Poster 14
Fiducial Marker based Extrinsic Camera Calibration for a Robot Benchmarking Platform
Timo Korthals, Daniel Wolf, Daniel Rudolph, Marc Hesse, and Ulrich Rückert
Bielefeld University, Germany

ORAL SESSION V

Session Chair: Peter Protzel

14:15 - 14:35
 Real-time Person Orientation Estimation using Colored Pointclouds 
Tim Wengefeld, Benjamin Lewandowski, Daniel Seichter, Lennard Pfennig, and Horst-Michael Gross
Technische Universität Ilmenau, Germany

14:35 - 14:55
Time-varying Pedestrian Flow Models for Service Robots
Tomas Vintr¹, Tomáš Krajník¹, Sergi Molina², Ransalu Senanayake³, George Broughton⁴, Zhi Yan⁵, Jiri Ulrich⁴, Tomasz Kucner⁶, Chittaranjan Swaminathan⁶, Filip Majer⁴, Maria Stachova⁷, and Achim Lilienthal^6
1Artificial Intelligence Centre, Czech Technical University, Czechia
²Lincoln Centre for Autonomous Systems (L-CAS), University of Lincoln, UK, United Kingdom
³Stanford University, United States
⁴Artificial Intelligence Center, Czech Technical University, Czechia
⁵Distributed Artificial Intelligence and Knowledge Laboratory, University of Technology of Belfort-Montbeliard, France
⁶AASS Mobile Robotics and Olfaction Lab, Örebro University, Sweden, Sweden
⁷University of Matej Bel in Banska Bystrica, Slovakia, Slovakia

14:55 - 15:15
Human Motion Prediction Based on Object Interactions
Lilli Bruckschen, Nils Dengler, and Maren Bennewitz
University of Bonn, Germany

15:15 - 15:35
Learning to see through haze: Radar-based Human Detection for Adverse Weather Conditions
Filip Majer¹, Zhi Yan², George Broughton¹, Yassine Ruichek², and Tomáš Krajník^1
1AI center, FEE, CTU, Czechia
²CIAD, UTBM, France

15:35 - 15:55
Improving Navigation with the Social Force Model by Learning a Neural Network Controller in Pedestrian Crowds
Peter Regier, Ibrahim Shareef, and Maren Bennewitz
University Bonn, Germany