Doktorandské kolokvium KAI - Lukáš Gajdošech (14.10.2024)
v pondelok 14.10.2024 o 13:10 hod. v miestnosti I/9
Prednášajúci: Lukáš Gajdošech
Názov: From Synthetic Data to Real-World HRI: Leveraging 3D Vision for Humanoid Robotic Perception
Termín: 14.10.2024, 13:10 hod., I/9
Abstrakt:
In this talk, I will present my research timeline towards the recent work at the intersection of Computer Vision, 3D perception, and Human-Robot Interaction (HRI). My research projects so far focused on object detection, classification, and localization in industrial settings. Due to the scarcity of available data from such environments, we tackled these problems by training models on synthetic data. However, these approaches encounter limitations when applied to objects from problematic materials. The complexity of photorealistically rendering materials, such as glass, often leads to poor generalization in real-world scenarios. Building on this experience, in connection with international colleagues, my current interest shifts toward real-world data capture in the context of Human-Robot Interaction (HRI) context. I had an opportunity to work with a robotics team to enhance a humanoid robot’s ability to collaborate with humans in the task of pouring liquids into transparent containers. This task presents unique challenges in perception, scene reconstruction, and real-time interaction. Additionally, the design of the data-capturing procedure enabling further research in different areas of computer vision will be discussed. These include advances in NeRF evaluation, surface fusion, depth estimation, and transparent object detection.