EURON 2002 Summer School on Visual Servoing

September 16 – 20, Benicàssim (Spain)

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.

Last modified by Enric Cervera
on 25/02/2010 @ 14:05.