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.
For appointments, please
contact Sanjiv Singh (ssingh@ri.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.
