Speakers

Visual Manipulation of 3D Objects for Robotic Service

dgif_2017_program_book_내지_171123_최종_확인용
Sukhan Lee
Sungkyunkwan University
Nov. 30 15:40~16:25

Abstract

Visual manipulation relies on understanding the 3D workspace at hand by recognizing and localizing 3D objects embedded in the scene. For the sake of manipulation, it further requires understanding local geometric features and their context regarding the 3D object to be manipulated. This talk addresses understanding the 3D workspace of a robot in terms of describing the layout of 3D objects as well as representing 3D objects as a hierarchy of local 3D geometric features that are linked to ontologies. The layout of 3D objects in workspace is formulated with proposal networks based on 2D and 3D images, whereas the local geometric features of 3D objects are extracted by variational auto-encoders extended with inter-class association. Experimental results are shown by applying the proposed method to the visually guided errand service of a home service robot, “HomeMate.”

 

Biography

Prof. Sukhan Lee has been a Professor of School of Information and Communication Engineering, and WCU professor of Interaction Science at the Sungkyunkwan University, while serving as the Director of the Intelligent Systems Research Institute, since 2003. Since 2011, he assumed the Dean of the Graduate School of Sungkyunkwan University. Prof. Sukhan Lee has his research interest in the areas of Cognitive Robotics, Intelligent Systems, and Micro/Nano Electro-Mechanical systems. From 1998 to 2003, he was an Executive Vice President and a Chief Research Officer at the Samsung Advanced Institute of Technology. From 1990 to 1997, with the Jet Propulsion Laboratory, California Institute of Technology, as a Senior Member of Technical Staff and, from 1983 to 1997, he was with the Departments of Electrical Engineering and of Computer Science at the University of Southern California. Prof. Sukhan Lee is currently a fellow of IEEE and a fellow of Korean National Academy of Science and Technology.

 

Education

  • 1982, Ph.D. degree in Electrical Engineering from Purdue University, West Lafayette
  • 1974, M.S. degree in Electrical Engineering from Seoul National University
  • 1972, B.S. degree in Electrical Engineering from Seoul National University

 

Professional Career

  • 2011-Present, Dean of the Graduate School, SKKU
  • 2003-Present, Professor of School of Information and Communication Engineering, SKKU
  • 2003-Present, WCU professor of Interaction Science, SKKU
  • 2003-Present, Director of the Intelligent Systems Research Institute
  • 1998-2003, Executive Vice President and a Chief Research Officer, Samsung Advanced Institute of Technology
  • 1990-1997, Senior Member of Technical Staff, Jet Propulsion Laboratory, California Institute of Technology
  • 1983-1997, Professor of Departments of Electrical Engineering and of Computer Science, the University of Southern California

 

Awards and Honors

  • Fellow of IEEE
  • Fellow of Korean National Academy of Science and Technology