Update: please check out the follow-up workshop RGB-D 2012 to be held on July 9 and 10, 2012, in conjunction with RSS 2012.
The camera-ready versions of the contributed papers, along with presentation materials, are available below and at the List of Papers.
RGB-D 2011 is a full-day workshop in conjunction with the Robotics Science and Systems (RSS) conference 2011, held on June 27, 2011, on Campus at the University of Southern California. This is a follow-up to the RGB-D 2010 workshop at last year's RSS. We seek to bring together ongoing research efforts on RGB-D cameras in robotics as well as contributions from related fields such as computer vision, graphics and machine learning.
The arrival of Microsoft Kinect, with $150 a unit and 8 million sales in two months, is causing a revolution across robotics research landscapes. Affordable RGB-D cameras, with real-time synchronized color and dense depth, are to dramatically improve and fundamentally change robots. capabilities to perceive and interact with people and environments. Last year's RGB-D workshop at RSS successfully brought together experts of converging interests from multiple research fields and discussed major RGB-D opportunities and challenges in robotics.
The goal of this workshop is to understand the scope and impact of the rapidly growing depth-camera-based research activities, to solicit and showcase in-progress depth-camera-based systems and applications, to clarify a research agenda for depth camera perception, and to coordinate efforts across communities to lead the emerging RGB-D revolution.
The list of organizers, invited speakers and program committee members is here.
Workshop Schedule
| 09:10am - 09:20am | Welcome and Overview of RGB-D 2011! |
| 09:20am - 09:50am | Practical Mapping and Recognition Combining Color and Depth
[slides][slides-with-video]
Xiaofeng Ren Intel Labs and University of Washington |
| 09:50am - 10:10am | Perception and Control Challenges for Effective Human-Robot Handoffs
[slides]
[video]
Vincenzo Micelli, Kyle Strabala, Siddhartha Srinivasa University of Parma and Carnegie Mellon University |
| 10:10am - 10:30am | Constraint-Based 3-DOF Haptic Rendering of Arbitrary Point Cloud Data
[slides]
[video]
Adam Leeper, Sonny Chan, Kenneth Salisbury Stanford University |
| 10:30am - 11:00am | Coffee Break |
| 11:00pm - 11:30pm |
Ongoing RGB-D Research at Willow Garage
[slides]
Kurt Konolige Willow Garage |
| 11:30am - 11:50am |
Proximity Computations between Noisy Point Clouds using Robust Classification
[slides]
Jia Pan, Sachin Chitta, Dinesh Manocha UNC Chapel Hill and Willow Garage |
| 11:50pm - 12:10pm | Learning to Detect and Track People in RGBD Data
Matthias Luber, Luciano Spinello, Kai Arras University of Freiburg |
| 12:20pm - 01:30pm | Lunch Break |
| 01:30pm - 02:10pm | Invited Talk
Martial Hebert Carnegie Mellon University |
| 02:10pm - 02:30pm | Fast Sampling Plane Filtering and Indoor Mobile Robots
[slides]
[video (filtering)][video (localization)]
Joydeep Biswas, Manuela Veloso Carnegie Mellon University |
| 02:30am - 3:00pm | 3D Perception using RGBD Cameras for Personal Assistant Robots
[slides]
[website]
Ashutosh Saxena Cornell University |
| 03:00pm - 03:15pm | Coffee Break |
| 03:15pm - 03:50pm | Invited Talk
Johnny Lee |
| 03:50pm - 04:20pm | Poster and Demo Spotlights (Posters and demos have 90-second spotlights) |
| 04:20pm - 05:30pm | Poster and Demo Sessions (List of posters and demos) |
| 05:30pm - 06:00pm | Discussions and Wrap-Up |
Poster Presentations
|
P1: Using Kinect and a Haptic Interface for Implementation of Real-Time Virtual Fixtures
[pdf]
[video]
[spotlight]
Fredrik Ryden, Howard Chizeck, Sina Nia Kosari, Hawkeye King, Blake Hannaford University of Washington |
|
P2: Segmentation and Analysis of RGB-D data
[pdf]
[spotlight]
Camillo Taylor, Anthony Cowley University of Pennsylvania |
|
P3: Pose estimation from a single depth image for arbitrary kinematic skeletons
[pdf]
[spotlight]
Daniel Ly, Ashutosh Saxena, Hod Lipson Cornell University |
|
P4: Realtime Visual and Point Cloud SLAM
[pdf]
[video]
[spotlight]
Nicola Fioraio, Kurt Konolige Willow Garage |
|
P5: Using a Depth Camera for Indoor Robot Localization and Navigation
[pdf]
[video]
[spotlight]
Joao Cunha, Eurico Pedrosa, Cristovao Cruz, Antonio Neves, Nuno Lau University of Aveiro |
|
P6: Simultaneous Localization and Mapping with People
[pdf]
[spotlight]
Philipp Robbel, Cynthia Breazeal, David Demirdjian Massachusetts Institute of Technology |
|
P7: Point Clouds and Range Images for Intent Recognition and Human-Robot Interaction
[pdf]
[video]
[spotlight]
Richard Kelley, Amol Ambardekar, Liesl Wigand, Monica Nicolescu, Mircea Nicolescu University of Nevada, Reno |
|
P8: Real-time Mapping, Localization and Pose Determination using an RGBD Camera
[pdf]
[spotlight]
Ramin Rezaiifar, Stefano Soatto, Ashwin Swaminathan, Qi Xue, Piyush Sharma Qualcomm and UCLA |
|
P9: Towards a benchmark for RGB-D SLAM evaluation
[pdf]
[spotlight]
Juergen Sturm, Stephane Magnenat, Nikolas Engelhard, Francois Pomerleau, Francois Colas, Wolfram Burgard, Daniel Cremers, Roland Siegwart TU Munich, University of Freiburg, ETH Zurich |
|
P10: Collision Avoidance in Depth Space
[pdf]
[video]
[spotlight]
Fabrizio Flacco, Torsten Kroeger, Allessandro De Luca, Oussama Khatib University of Rome and Stanford University |
|
P11: Holistic Shape Detection and Analysis using RGB-D Range Data for Grasping
[pdf] [spotlight] Karthik Mahesh Varadarajan, Kai Zhou, Markus Vincze TU Vienna |
|
P12: A RGB-D camera Based Navigation for the Visually Impaired
[pdf]
[spotlight]
Young Hoon Lee, Gerard Medioni University of Southern California |
Demo Presentations
| D1: Demonstration of Haptic Rendering from Point Cloud Data
[video]
[spotlight]
Fredrik Ryden, Sina Nia Kosari, Howard Chizeck University of Washington |
|
D2: Real-Time Pose Estimation with RGB-D Camera
[video]
[spotlight]
Ivan Dryanovski, William Morris, Ravi Kaushik, Jizhong Xiao City University of New York |
|
D3: Human-Robot Collaboration using Micro-delegation and Gesture Recognition
[video]
[spotlight]
Jason Yosinski, Igor Labutov, Hod Lipson, Ashutosh Saxena Cornell University |
|
D4: Constraint-Based 3-DOF Haptic Rendering of Arbitrary Point Cloud Data
[video]
[spotlight]
Adam Leeper, Sonny Chan, Kenneth Salisbury Stanford University |
|
D5: Realtime ICP on a Kinect
[video]
[spotlight]
Nicola Fioraio, Kurt Konolige Willow Garage |
|
D6: A Scalable Tree-based Approach for Joint Object and Pose Recognition
[spotlight]
[website]
Kevin Lai, Liefeng Bo, Xiaofeng Ren, Dieter Fox Universty of Washington and Intel Labs |
|
D7: Labeling 3D Scenes for Personal Assistant Robots
[pdf]
[website]
Hema Koppula, Abhishek Anand, Thorsten Joachims, Ashutosh Saxena Cornell University |
Call For Papers
We encourage and welcome contributions over a wide range of topics and in a variety of forms, on the use of RGB-D cameras in robotics and its connections to related fields such as computer vision, graphics, and machine learning.Subjects of interest include, but not limited to:
- 3D shape analysis and matching
- 3D reconstruction and modeling
- Object and articulated tracking
- Object recognition and pose estimation
- Mobile manipulation
- Navigation, mapping and localization
- Scene understanding and segmentation
- People and activity recognition
- Human-robot / human-computer interaction
- Teleoperation
- Sensor integration and fusion
- Empirical studies and benchmarks
- Applications
- DEMO (see below)
Electronic submissions can be in the form of both extended abstracts (1-2 pages) and full papers (up to 6 pages). They can be either a presentation of work in progress or a summary of recent research advances. Video supplemental materials are encouraged. Selected contributions will be presented at the workshop as talks, spotlights and/or posters.
The submissions should be in the standard RSS format. Instructions and templates (Latex and Word) can be found on the RSS 2011 website: http://www.roboticsconference.org/authors.html
We encourage the submissions of live demos and working systems. A demo submission should be in the format of an extended abstract with recorded videos, under the DEMO category, separate from the main paper if any. Given sufficient interests, a special demo session will be organized at the workshop.
Important Dates
| Submission site open | April 5, 2011 |
| Submission due | May 18, 2011 |
| Decisions and Final Program | June 15, 2011 |
| Camera-ready due | June 26, 2011 |
Contact Information
For submission-related questions, please contact the workshop organizers through CMT. For general information, please contact: Xiaofeng Ren xiaofeng.ren at intel.com Computer Science and Engineering University of Washington Seattle, WA 98195 Phone: 1-206-543-2421 Fax: 1-206-543-2969