University of California, Riverside

Department of Electrical and Computer Engineering



From Car Navigation to Landing on Mars


From Car Navigation to Landing on Mars
 

By

ANASTASIOS MOURIKIS

Asst. Professor of Electrical Engineering
University of California, Riverside

 

Date:  Monday, October 25, 2010
Time:  2:00pm – 3:00pm
Location:  A265 Bourns Hall

Abstract:

Mobile robots are already being used in application areas ranging from household cleaning to space exploration, and in the near future autonomous robots will become part of our everyday life. In order for these systems to be able to effectively interact with their environment, they must precisely know their location the with respect to objects of interest around them. This is the problem of robot localization, one of the most important research problems in robotics. To solve this problem, the robots use sensors such as cameras, laser rangefinders, and inertial measurement units, which allow them to sense their surroundings as well as their own motion. Increasingly, such sensors are also appearing on commercially available systems: for example, modern cell phones contain cameras, gyroscopes, and accelerometers, which are sensing modalities typically employed in robotics for motion estimation. This opens up the possibility of using robotics technology in a variety of new domains.

This talk will introduce the problem of robot localization, describe common approaches to its solution, and present state-of-the art methods for trajectory estimation. The focus of the talk will be on 3D motion estimation using visual and inertial sensing, and results will be presented from the application of our methods for spacecraft landing, as well as for vehicle navigation in an urban environment.

About the Speaker: 

Anastasios Mourikis is an Assistant Professor at the Department of Electrical Engineering at the University of California, Riverside. He received the Diploma in Electrical and Computer Engineering from the University of Patras, Greece, in 2003 and the PhD degree in Computer Science from the University of Minnesota in 2008. His research interests lie in the areas of vision-aided inertial navigation, multi-robot systems, distributed estimation in mobile sensor networks, simultaneous localization and mapping, and structure from motion. Dr. Mourikis has been awarded the 2007 Doctoral Dissertation Fellowship from the University of Minnesota, the Regents’ Faculty Fellowship Award from the UCR Academic Senate, and is a recipient of the IEEE Transactions on Robotics 2009 Best paper Award (King-Sun Fu Award).

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Electrical and Computer Engineering
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University of California, Riverside
Riverside, CA 92521-0429

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