PCL Tutorial at RSS 2011

When: July 1, 2011

Where: Robotics: Science and Systems (RSS) 2011, University of Southern California, in Los Angeles, California, USA.

Organizers:

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:

Schedule:

TimeSession nameTitle/Author
09:00 - 09:10WelcomeIntroductions + solve basic technical problems
09:10 - 09:40IntroductionRadu B. Rusu
Hello, World!
09:40 - 10:00PCL I/O (code)Nico Blodow and Suat Gedikli[*]
Learning the PCD format and the Grabber interface.
10:00 - 10:30PCL Visualization (part 1, part 2)Radu B. Rusu and Bastian Steder
How to display your data on screen.
10:30 - 10:45Coffee & cookies
10:45 - 11:00PCL Filters (I)Radu B. Rusu
Filtering your data: outliers vs inliers.
11:00 - 11:30PCL Segmentation + Filters (II) (code)Nico Blodow
Segmenting geometric primitives.
The SAmple Consensus (SAC) framework.
11:30 - 11:45Invited talkAdam Leeper, Stanford University
Telemanipulation using PCL
11:45 - 12:15PCL Keypoints and Features (code)Michael Dixon and Radu B. Rusu
How to estimate 3D features.
12:15 - 13:30Lunch
13:30 - 14:00PCL SearchMarius Muja, Julius Kammerl[*]
KdTrees and Octrees in PCL.
Change detection. Point cloud compression.
14:00 - 14:20Invited talkNico Blodow and Radu B. Rusu
Technology preview: PCL on CUDA
14:20 - 14:45PCL Range ImagesBastian Steder
Compact range image representations.
NARF keypoints and features. Object recognition using NARF.
14:45 - 15:00Invited talkMichael Ruhnke, University of Freiburg
Sparse Surface Adjustment - Joint Optimization of Sensor Poses and Surface Points
15:00 - 15:30Coffee & cookies
15:30 - 16:10PCL Registration (code)Jochen Sprickerhof, Dirk Holz[*], Michael Dixon
How to align scans in a SLAM framework.
Creating 3D object models. Mapping.
16:10 - 16:40PCL SurfaceZoltan-Csaba Marton
Creating surface meshes from point clouds
VFH cluster recognition
16:40 - 17:00Join Us!Radu B. Rusu
...for drinks

Preparations:

Before the tutorial starts, please make sure that:

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