PCL Tutorial at IROS 2011
When: September 25, 2011
Where: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011, San Francisco, California, USA.
Room location: Continental Ballroom 6 at the Hilton Hotel (see floor map)
Organizers:
- Radu Bogdan Rusu, Willow Garage
- Aitor Aldoma, Vienna University of Technology
- Suat Gedikli, Willow Garage
- Michael Dixon, Willow Garage
Short description:
With the advent of new, low-cost hardware such as OpenNI compatible cameras and continued efforts in advanced open source 3D point cloud processing, 3D perception gains more and more importance in robotics, as well as other fields. The workshop attempts to motivate new developers and ideas to delve into this subject by offering a tutorial on point cloud processing using the emerging Point Cloud Library (PCL), which presents an advanced and extensive approach to the subject, as well as providing an overview of existing systems applying these techniques. Our goal is to provide an excellent reference material for students and researchers interested in this subject and take our guests through a complete application demonstration (given live) that combines subjects such as filtering, feature estimation, segmentation, registration, object recognition and finally surface reconstruction. The tutorial will be held using OpenNI compatible sensors, so we encourage the audience to bring theirs so we can follow all the steps together. We're assembling a great list of invited speakers that will talk about the usage of PCL in their work and show impressive demos.
List of speakers:
- Aitor Aldoma, Vienna University of Technology
- Nico Blodow, Technische Universität München
- Michael Dixon, Willow Garage
- Suat Gedikli, Willow Garage
- Dirk Holz, Universität Bonn
- Julius Kammerl, Technische Universität München
- Zoltan-Csaba Marton, Technische Universität München
- Radu Bogdan Rusu, Willow Garage
Schedule:
| Time | Session name | Title/Author |
| 08:30 - 09:00 | Technical | Solve basic technical problems. Please show up if you cannot get PCL to run on your laptop. |
| 09:00 - 09:25 | Welcome | Radu B. Rusu PCL: Why, How, Who? (presentation, video1, video2) |
| 09:25 - 09:40 | Technical | Radu B. Rusu Introduction. Kinect demos. |
| 09:40 - 10:20 | Technical | Suat Gedikli Filtering. (presentation) |
| 10:20 - 11:00 | Technical | Nico Blodow Segmentation. (presentation) |
| 11:00 - 11:40 | Technical | Michael Dixon Keypoints. Feature descriptors. (presentation) |
| 11:40 - 12:10 | Invited talk | Nico Blodow & Radu B. Rusu 3D GPGPU programming. |
| 12:10 - 13:30 | Lunch | |
| 13:30 - 14:00 | Invited talk | Julius Kammerl Search, change detection, and compression using octrees. (presentation) |
| 14:00 - 14:50 | Technical | Dirk Holz Registration. (presentation) |
| 14:50 - 15:40 | Technical | Aitor Aldoma Recognition. (presentation) |
| 15:40 - 16:30 | Technical | * |
| 16:30 - 17:00 | Join Us! | ...for drinks |
Preparations:
Before the tutorial starts, please make sure that:
- you have a laptop computer with an USB 2.0 port that you can use for the tutorial
- you have a Microsoft Kinect or an Asus XTion Pro/Live camera (or a PSDK) -- please e-mail the organizers if you are unable to get one, and need to borrow a camera
- you have an operating system that PCL supports (see http://www.pointclouds.org/downloads for the list of supported systems)
- you preinstall PCL and its dependencies on your machine
Downloads:
From PCL 1.5.0, the source code of the tutorial has been moved over to https://github.com/PointCloudLibrary/pcl/tree/master/doc/tutorials/content/sources/iros2011, and has become part of the PCL distribution. Please use this copy instead of the ZIP source archive below.