PNARUDE Workshop

Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments

Room C-2 / Rm5 @ ICC Kyoto

October 27th, Kyoto

Registered IROS 2022 attendees can join the workshop virtually over Zoom:


Overview

Recent intelligent perception and navigation techniques have obtained wide attention in the areas of autonomous robots and systems. Autonomous robots and systems capable of operating in well and partially-structured environments are emerging. As we look to the future, robots that are capable of operating in genuinely unstructured and dynamic environments remain a significant challenge.

One can determine an environment for an autonomous robot to be unstructured or dynamic based on many aspects. For instance, for UGVs in an outdoor setting we could mean the varying lighting conditions and the many natural structures with no clear object boundary. Typically these outdoor environments lack many dynamic objects. Additionally, one could also consider the loading area of a sea port or a logistics center with consistent lighting conditions to be unstructured due to the many dynamic objects and the lack of a consistent map of the environment.

We are hosting the second PNARUDE Workshop, where we aim to explore and discuss novel methods and experience in these and many other examples of unstructured and dynamic environments for autonomous robotics. The workshop offers a broad view of different research areas in the field of perception of unstructured environments which is supported by some excellent speakers.

Speakers

  • Prof. Cyrill Stachniss

    Prof. Cyrill Stachniss

    University of Bonn, Germany

    Cyrill Stachniss is a German roboticist. He is a Full Professor at the University of Bonn and heads the lab for Photogrammetry and Robotics. He is additionally a Visiting Professor in Engineering at the University of Oxford. He made significant contributions to problem of the mobile robot exploration, simultaneous localization and mapping (SLAM) as well as other topics related to mobile robotics.

  • Prof. Yusuke Tamura

    Prof. Yusuke Tamura

    Tohoku University, Japan

    Yusuke Tamura is currently an Associate Professor with the Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan. His research interests include human–robot interaction, mobile robotics, and remote control technology.

  • Dr. Marija Popović

    Dr. Marija Popović

    University of Bonn, Germany

    Marija Popović is a Junior Research Group Leader at the University of Bonn and Cluster of Excellence "PhenoRob". Her research is centred around developing algorithms to enable intelligent decision-making for autonomous mobile robots, both aerial and ground. Her research group in PhenoRob focuses on furthering robot autonomy in agricultural applications.

  • Ruben Mascaro Palliser

    Ruben Mascaro Palliser

    ETH Zurich, Switzerland

    Ruben started his PhD at the Vision for Robotics Lab, lead by Margarita Chli, in October 2018. He has previously worked as a software engineer in the automotive industry and as a research assistant at the Automatic Control Department (ESAII) of the Polytechnic University of Catalonia. His main interests are vision-based localization, mapping and higher-level scene understanding algorithms for autonomous robots.

  • Prof. Huijing Zhao

    Prof. Huijing Zhao

    Peking University, China

    Huijing Zhao is a Professor of Machine Intelligence at Peking University. Her research interest covers image sensing, computer vision, and spatial data handling for GIS applications.

  • Prof. François Pomerleau

    Prof. François Pomerleau

    Laval University, Canada

    François Pomerleau is a professor in the Computer Science and Software Engineering Department at Laval University in Canada. His research interests include 3D reconstruction of environments using laser data, autonomous navigation, search and rescue activities, environmental monitoring, trajectory planning and scientific methodology applied to robotics.

  • Dr. Roland Lenain

    Dr. Roland Lenain

    INRAE, France

    Dr. Roland Lenain is a researcher in off-road mobile robotics at the TSCF unit of INRAE at Clermont-Ferrand. Roland is also in charge of the RobAgri association and his research interests include adaptive and predictive control of mobile robots in the context of natural environment and its application in the field of agricultural robotics.

  • Prof. Danwei Wang

    Prof. Danwei Wang

    Nanyang Technological University, Singapore

    Danwei Wang is professor in the School of Electrical and Electronic Engineering at NTU and director at the ST Engineering-NTU Corporate Lab. His research interests include robot active perception and multi-modal sensor fusion, robot autonomy and traffic signal control for urban road networks.

Schedule

This is a preliminary version of the schedule and may be subject to change.

TimeDescription
9:00Opening Remarks by the PNARUDE Organizers
9:10Topic 1: Perception and Sensor Fusion
Prof. Cyrill Stachniss Prof. Cyrill Stachniss University of Bonn, GermanyPerception for Robots in the Fields
Prof. Yusuke Tamura Prof. Yusuke Tamura Tohoku University, JapanTowards safe and smooth Coexistence of mobile Robots and inattentive Humans
10:10Coffee Break
Topic 2: Navigation and Mobility
10:20Dr. Marija Popović Dr. Marija Popović University of Bonn, GermanyMapping and Planning for Autonomous Robotic Decision-Making
10:50Ruben Mascaro Palliser Ruben Mascaro Palliser ETH Zurich, SwitzerlandSemantic Scene Understanding for Robotic Navigation and Mobility in Unstructured Environments
11:20Oral Spotlight Presentations #1 Hyesu Jang on
Radar-based Angular Correction for Tightly-coupled LiDAR Odometry
PDF Paper Download

Felicia Ruppel on
Can Transformer Attention Spread Give Insights Into Uncertainty of Detected and Tracked Objects?
PDF Paper Download

Diego Martı́nez on
Deep Reinforcement Learning oriented for Real World Dynamic Scenario
PDF Paper Download

Zhenyu Wu on
SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition
PDF Paper Download

Riccardo Polvara on
Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset
PDF Paper Download

11:50Lunch
Topic 3: AI-based Autonomy
13:00Prof. Huijing Zhao Prof. Huijing Zhao Peking University, ChinaUnderstanding the Challenges when 3D Semantic Segmentation faces class-imbalanced and OOD Data
13:30Prof. François Pomerleau Prof. François Pomerleau Laval University, CanadaFrom subarctic to subterranean environments: how to localize in unstructured environments?
14:00Coffee Break
Topic 4: Applications of AI
14:10Dr. Roland Lenain Dr. Roland Lenain INRAE, FranceRobotics in Agriculture: Towards the adaption of Robot(s) Behaviors to meet new Agroecological Expectation
14:40Prof. Danwei Wang Prof. Danwei Wang Nanyang Technological University, SingaporeMulti-modal Perception in adverse Weather Conditions
15:10Coffee Break
15:20Oral Spotlight Presentations #2 Verdoja Francesco on
Generating people flow from architecture of real unseen environments
PDF Paper Download

Carmelo Scribano on
CERBERUS: Simple and Effective All-In-One Automotive Perception Model with Multi Task Learning
PDF Paper Download

Yinan Deng on
S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference
PDF Paper Download

César Debeunne on
Design of a bi-monocular Visual Odometry System for Lava Tubes exploration
PDF Paper Download

Yash Goel on
Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation
PDF Paper Download

15:50Roundtable Discussion: Future Advances and Research Directions
16:10Closing Remarks

Accepted Papers

The accepted extended abstracts for the PNARUDE'22 workshop at IROS 2022 can be accessed below:

Radar-based Angular Correction for Tightly-coupled LiDAR Odometry
Hyesu Jang, Minwoo Jung, Sangwoo Jung and Ayoung Kim
PDF Paper Download

Can Transformer Attention Spread Give Insights Into Uncertainty of Detected and Tracked Objects?
Felicia Ruppel, Florian Faion, Claudius Gläser and Klaus Dietmayer
PDF Paper Download

Deep Reinforcement Learning oriented for Real World Dynamic Scenario
Diego Martı́nez, Luis Riazuelo and Luis Montano
PDF Paper Download

SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition
Shutong Jin, Zhenyu Wu, Chunyang Zhao, Jun Zhang, Guohao Peng and Danwei Wang
PDF Paper Download

Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset
Riccardo Polvara, Sergi Molina Mellado, Ibrahim Hroob, Grzegorz Cielniak and Marc Hanheide
PDF Paper Download

Generating people flow from architecture of real unseen environments
Francesco Verdoja, Tomasz Piotr Kucner, Ville Kyrki
PDF Paper Download

CERBERUS: Simple and Effective All-In-One Automotive Perception Model with Multi Task Learning
Carmelo Scribano, Giorgia Franchini, Ignacio Sañudo Olmedo and Marko Bertogna
PDF Paper Download

S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference
Yinan Deng, Meiling Wang, Danwei Wang and Yufeng Yue
PDF Paper Download Video Presentation Download

Design of a bi-monocular Visual Odometry System for Lava Tubes exploration
César Debeunne, Alex Torres and Damien Vivet
PDF Paper Download Video Presentation Download

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation
Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Cyrill Stachniss
PDF Paper Download Video Presentation Download

Organizers