IROS '02

IROS 2002
2002 IEEE/RSJ International Conference on
Intelligent Robots and Systems

Technical Program

Wed Oct 02 08:30-09:10
Session: Plenary I  
Chair:Christian Laugier
Room:1
Time:08:30 
Title:From Simulation to Remote Surgery : A Technical and Cultural Revolution
European 6th Framework Program: Pekka Karp, European Commission Introduction to Robotics Research Opportunities 
Authors:  
Marescaux, Jacques University of Strasbourg
Wed Oct 02 09:40-10:40
Session: Vision & Sensing 1  
Chair:Giorgio METTA
Room:1
Time:09:40 
Title:Paper # 132, Exploiting Structural Constraints for Accurate Image Registration 
Authors:  
Rodrigues, Marcos Sheffield Hallam University
Liu, Yonghuai University of Wales, Aberystwyth
Time:10:00 
Title:Paper # 292, Estimation of 3D Motion from Stereo Images - Uncertainty Analysis and Experimental Results 
Authors:  
Gonçalves, Nuno Institute for Systems and Robotics (ISR), Coimbra
Araújo, Helder Institute for Systems and Robotics (ISR), Coimbra
Time:10:20 
Title:Paper # 630, A Motion Tracking by Extracting 3D Feature of Moving Objects with Binocular Cooperative Fixation 
Authors:  
Satoh, Yoshinori Tohoku University
Nakagawa, Tomohiro Tohoku University
Okatani, Takayuki Tohoku University
Deguchi, Koichiro Tohoku University
Wed Oct 02 11:00-12:40
Session: Vision & Sensing 2  
Chair:Frans C.A. GROEN
Room:1
Time:11:00 
Title:Paper # 1034, Road Curb and Intersection Detection Using a 2D LMS 
Authors:  
Kodagoda, K. R. Sarath Nanyang Technological University
Wijesoma, W. Sardha Nanyang Technological University
Balasuriya, Arjuna Prabhath Nanyang Technological University
Time:11:20 
Title:Paper # 367, Visual grasp determination and tracking in 2D dynamic scenarios 
Authors:  
Recatala, Gabriel Universitat Jaume I de Castello
Sorg, Michael Munich University of Technology
Leupold, Jan Munich University of Technology
Sanz, Pedro J Universitat Jaume I de Castello
P. del Pobil, Angel Universitat Jaume I de Castello
Time:11:40 
Title:Paper # 536, Information Management for Gaze Control in Vision Guided Biped Walking 
Authors:  
F. Seara, Javier Institute of Automatic Control Engineering (LSR), Technische Universität
Strobl, Klaus H. Institute of Automatic Control Engineering (LSR), Technische Universität München
Schmidt, Guenther Institute of Automatic Control Engineering (LSR), Technische Universität München
Time:12:00 
Title:Paper # 744, Affine Trackability for Landmark Selection in Natural Environment 
Authors:  
Vandapel, Nicolas LAAS-CNRS
Chatila, Raja LAAS-CNRS
Time:12:20 
Title:Paper # 746, Towards Manipulation-Driven Vision 
Authors:  
Fitzpatrick, Paul Massachusetts Institute of Technology
Metta, Giorgio Massachusetts Institute of Technology
Wed Oct 02 14:00-15:20
Session: Vision & Sensing 3  
Chair:Markus VINCZE
Room:1
Time:14:00 
Title:Paper # 28, On-Road Computer Vision Based Obstacle Detection 
Authors:  
Sun, Zheng-Tie National Taiwan University, Taiwan, R.O.C
Fu, Li-Chen National Taiwan University, Taiwan, R.O.C
Huang, Shin-Shinh National Taiwan University, Taiwan, R.O.C
Time:14:20 
Title:Paper # 88, Detecting Collision-free Paths by Observing Walking People 
Authors:  
tanaka, kanji Future University-Hakodate
Time:14:40 
Title:Paper # 126, Obstacle Detection Based on Motion Constraint of Virtual Planes 
Authors:  
Okada, Ryuzo Toshiba Corp.
Onoguchi, Kazunori Toshiba Corp.
Time:15:00 
Title:Paper # 318, Genetic Programming for Real World Robot Vision 
Authors:  
Martin, Martin Massachusetts Institute of Technology
Wed Oct 02 15:40-17:20
Session: Omnidirectional Vision for Mobile Robots  
Chair:Henrik CHRISTENSEN
Room:1
Time:15:40 
Title:Paper # 210, Mobile Robot Map Generation by Integrating Omnidirectional Stereo and Laser Range Finder 
Authors:  
Miura, Jun Osaka University
Negishi, Yoshiro Osaka University
Shirai, Yoshiaki Osaka University
Time:16:00 
Title:Paper # 358, Vision-based Monte Carlo Self-localization for a Mobile Service Robot Acting as Shopping Assistant in a Home Store 
Authors:  
Gross, Horst-Michael Ilmenau Technical University, Department of Neuroinformatics
Boehme, Hans-Joachim Ilmenau Technical University, Department of Neuroinformatics
Koenig, Alexander Ilmenau Technical University, Department of Neuroinformatics
Time:16:20 
Title:Paper # 621, High Precision Range Estimation from an Omnidirectional Stereo System 
Authors:  
Takiguchi, Junichi Mitsubishi Electric Corp.
Takeya, Akito Mitsubishi Electric Corp.
Yoshida, Minoru Mitsubishi Electric Corp.
Iyoda, Makoto Waseda University
Hashizume, Takumi Waseda University
Time:16:40 
Title:Paper # 831, Indoor Navigation for Mobile Robots Using Memorized Omni-directional Images and Robot's Motion 
Authors:  
TANG, Lixin University of Tsukuba
Yuta, Shinichi University of Tsukuba
Time:17:00 
Title:Paper # 634, Face identification Using an Omnidirectional Image Sequence 
Authors:  
Ohara, Yu Osaka University
Yagi, Yasushi Osaka University
Yokoyama, Taro Osaka University
Yachida, Masahiko Osaka University
Thu Oct 03 08:30-09:10
Session: Plenary II  
Chair:Hideki Hashimoto
Room:1
Time:08:30 
Title:A Small Biped Entertainment Robot and its Attractive Applications 
Authors:  
Kuroki, Yoshihiro Sony Corporation
Thu Oct 03 09:20-10:40
Session: Vision & Sensing 4  
Chair:Takashi TSUBOUCHI
Room:1
Time:09:20 
Title:Paper # 138, A review of laser scanning three-dimensional digitisers 
Authors:  
Forest, Josep Universitat de Girona
Salvi, Joaquim Universitat de Girona
Time:09:40 
Title:Paper # 334, Iterative Refinement of Range Images with Anisotropic Error Distribution 
Authors:  
Sagawa, Ryusuke University of Tokyo
Oishi, Takeshi University of Tokyo
Nakazawa, Atsushi Japan Science and Technology Corporation
Kurazume, Ryo University of Tokyo
Ikeuchi, Katsushi University of Tokyo
Time:10:00 
Title:Paper # 480, Robust Colour and Range Sensing for Robotic Applications Using a Stereoscopic Light Stripe Scanner 
Authors:  
Taylor, Geoffrey Monash University, Australia
Kleeman, Lindsay Monash University, Australia
Wernersson, Ake Lulea University of Technology, Sweden
Time:10:20 
Title:Paper # 1015, Segmentation of Dense Depth Maps using Inertial Data A real-time implementation 
Authors:  
Lobo, Jorge Institute for Systems and Robotics (ISR), Coimbra
Almeida, Luis ISR-Coimbra, University of Coimbra
Dias, Jorge ISR-Coimbra, University of Coimbra
Thu Oct 03 11:00-12:40
Session: Vision & Sensing 5  
Chair:Pedro J SANZ
Room:1
Time:11:00 
Title:Paper # 553, Robust and Efficient Tracking in Image Sequences using a Kalman Filter and an Affine Motion Model 
Authors:  
Karlsson, Henrik Swedish Defence Research Agency and Linköping University
Nygårds, Jonas Linköping University & Swedish Defence Research Agency
Time:11:20 
Title:Paper # 707, Differentiation and localization of target primitives using infrared sensors 
Authors:  
Aytac, Tayfun Bilkent University
Barshan, Billur Bilkent University
Time:11:40 
Title:Paper # 760, Internal Representation of Slip for a Soft Finger with Vision and Tactile Sensors 
Authors:  
Hosoda, Koh Osaka University
Tada, Yasunori Osaka University
Asada, Minoru Osaka University
Time:12:00 
Title:Paper # 809, Fast Image-based Object Localization in Natural Scenes 
Authors:  
Hanek, Robert Munich University of Technology
Schmitt, Thorsten Munich University of Technology
Buck, Sebastian Munich University of Technology
Beetz, Michael Munich University of Technology
Time:12:20 
Title:Paper # 1046, An empirical comparison of methods for image based motion estimation 
Authors:  
Adams, Henele Carnegie Mellon University
Singh, Sanjiv Carnegie Mellon University
Strelow, Dennis Carnegie Mellon University
Thu Oct 03 14:00-15:20
Session: Vision & Sensing 6  
Chair:Andrew K.C. WONG
Room:1
Time:14:00 
Title:Paper # 593, A Robotic Aircraft that Follows Terrain Using a Neuromorphic Eye 
Authors:  
Netter, Thomas Swiss Federal Institute of Technology Zurich (ETH)
Franceschini, Nicolas CNRS
Time:14:20 
Title:Paper # 1051, Motion Interpretation for In-Car Vision Systems 
Authors:  
van Leeuwen, Marinus B. University of Amsterdam
Groen, Frans C.A. University of Amsterdam
Time:14:40 
Title:Paper # 231, Multi-Sensor Data Fusion Using Bayesian Inference : an Automotive Application 
Authors:  
Coue, Christophe INRIA Rhône-Alpes
Fraichard, Thierry INRIA Rhône-Alpes
Bessiere, Pierre CNRS
Mazer, Emmanuel CNRS
Time:15:00 
Title:Paper # 632, Robust Object Tracking of Irregular Terrain Vehicle 
Authors:  
Ding, Jinsong University of Electro-Communications, Tokyo
Kondou, Hiroshi Sony Precision Technology Inc.
Kimura, Hiroshi University of Electro-Communications, Tokyo
Hada, Yoshiro University of Electro-Communications, Tokyo
Takase, Kunikatsu University of Electro-Communications, Tokyo
Thu Oct 03 15:40-16:40
Session: Vision & Sensing 7  
Chair:Shinichi YUTA
Room:1
Time:15:40 
Title:Paper # 325, Vision-based Mapping with Backward Correction 
Authors:  
Se, Stephen MD Robotics
Lowe, David University of British Columbia
Little, Jim University of British Columbia
Time:16:00 
Title:Paper # 424, View-based Imitation with Rotation Invariant Pan-Tilt Stereo Cameras 
Authors:  
Yoshikawa, Yuichiro Osaka University
Tsuji, Yoshiki Osaka University
Asada, Minoru Osaka University
Hosoda, Koh Osaka University
Time:16:20 
Title:Paper # 691, Dense Depth Map Acquisition by Hierarchic Structured Light 
Authors:  
Niu, Peiyi University of Waterloo
He, Xiang University of Waterloo
Wong, Andrew K.C. University of Waterloo
Fri Oct 04 08:30-09:10
Session: Plenary III  
Chair:Roland Siegwart
Room:1
Time:08:30 
Title:Adventure, a State of Mind : a Metaphor for the Round-the-World Balloon 
Authors:  
Piccard, Bertrand Foundation Winds of Hope
Fri Oct 04 09:20-10:40
Session: Vision & Sensing 8  
Chair:Jorge DIAS
Room:1
Time:09:20 
Title:Paper # 15, Narrowband 3D tracking using a biomimetic sonarhead 
Authors:  
Carmena, Jose M. University of Edinburgh
Hallam, John C.T. University of Edinburgh
Time:09:40 
Title:Paper # 531, On-the-fly Classifying Sonar with Accurate Range and Bearing Estimation 
Authors:  
Kleeman, Lindsay Monash University, Australia
Time:10:00 
Title:Paper # 780, An Architecture for a VLSI Sensory-motor System for Autonomous Robots 
Authors:  
Claveau, David Concordia University
Wang, Chunyan Concordia University
Time:10:20 
Title:Paper # 434, Robust Asynchronous Temporal Event Mapping 
Authors:  
Schill, Felix University of Karlsruhe
Zimmer, Uwe R. The Australian National University
Fri Oct 04 11:00-12:40
Session: Vision & Sensing 9  
Chair:Koh HOSODA
Room:1
Time:11:00 
Title:Paper # 247, Automatic 2D Map Construction using a Special Catadioptric Sensor 
Authors:  
Nakamura, Takayuki Nara Institute of Science and Technology
Ishiguro, Hiroshi ATR Media Information Science Research Laboratories
Time:11:20 
Title:Paper # 560, APES: Actively Perceiving Robot 
Authors:  
Soyer, Cagatay Bogazici University
Bozma, Isil Bogazici University
Istefanopulos, Yorgo Bogazici University
Time:11:40 
Title:Paper # 878, A Low Cost Embedded Color Vision System 
Authors:  
Rowe, Anthony Carnegie Mellon University
Rosenberg, Charles Carnegie Mellon University
Nourbakhsh, Illah Carnegie Mellon University
Time:12:00 
Title:Paper # 764, Towards Autonomous Vision Self-Calibration of Soccer Robots 
Authors:  
Mayer, Gerd University of Ulm
Utz, Hans University of Ulm
Kraetzschmar, Gerhard University of Ulm
Time:12:20 
Title:Paper # 1060, Study on Optimal Camera Arrangement for Positioning People in Intelligent Space 
Authors:  
Lee, Joo-Ho University of Tokyo
Akiyama, Takashi University of Tokyo
Hashimoto, Hideki University of Tokyo
Fri Oct 04 14:00-15:20
Session: Vision & Sensing 10  
Chair:Michel DEVY
Room:1
Time:14:00 
Title:Paper # 326, Global Localization using Distinctive Visual Features 
Authors:  
Se, Stephen MD Robotics
Lowe, David University of British Columbia
Little, Jim University of British Columbia
Time:14:20 
Title:Paper # 529, Correcting Observation Errors for Assembly Task Recognition 
Authors:  
Takamatsu, Jun University of Tokyo
Ogawara, Koichi University of Tokyo
Kimura, Hiroshi University of Electro-Communications, Tokyo
Ikeuchi, Katsushi University of Tokyo
Time:14:40 
Title:Paper # 724, A context and task dependent visual attention system to control a mobile robot 
Authors:  
Baccon, Jean-Christophe ETIS Laboratory - Neurocybernetic team
Hafemeister, Laurence ETIS Laboratory - Neurocybernetic team
Gaussier, Philippe ETIS Laboratory - Neurocybernetic team
Time:15:00 
Title:Paper # 961, Visual Attention Control for a Legged Mobile Robot based on Information Criterion 
Authors:  
Mitsunaga, Noriaki Osaka University
Asada, Minoru Osaka University
Fri Oct 04 15:40-17:00
Session: Neuro-Fuzzy Control  
Chair:Hiroshi NOBORIO
Room:1
Time:15:40 
Title:Paper # 1, Fuzzy continuous gain scheduling H-infinity control based on Taylor series fitting for robotic manipulators 
Authors:  
Yu, Zhongwei Tongji University
Chen, Huitang Tongji University
Woo, Pengyung Department of Electrical Engineering, Northern Illinois University, USA
Time:16:00 
Title:Paper # 168, Control of Multi-DOF Ultrasonic Motor using Neural Network based Inverse Model 
Authors:  
Takemura, Kenjiro Keio University, Yokohama
Maeno, Takashi Keio University, Yokohama
Time:16:20 
Title:Paper # 224, Stable Neural Network Adaptive Control of Constrained Redundant Robot Manipulators 
Authors:  
Benallegue, Abdelaziz Laboratoire de Robotique de Versailles, France
Daachi, Boubaker Laboratoire de Robotique de Versailles, France
Ramdane Cherif, Amar Laboratoire de Robotique de Versailles, France
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