"Visual Representations for Navigation and Object Detection"
Zoom Link: [https://ucsd.zoom.us/j/91267376688]
In-Person: Room 1202, CSE Building
Speaker: Jana Kosecka
George Mason University
Abstract: Advancements in reliable navigation and mapping rest to a large extent on robust, efficient and scalable understanding of the surrounding environment. The success in recent years have been propelled by the use machine learning techniques for capturing geometry and semantics of environment from video and range sensors. I will discuss approaches to object detection, pose recovery, 3D reconstruction and detailed semantic parsing using deep convolutional neural networks (CNNs).
While data-driven deep learning approaches fueled rapid progress in object category recognition by exploiting large amounts of labelled data, extending this learning paradigm to previously unseen objects comes with challenges. I will discuss the role of active self-supervision provided by ego-motion for learning object detectors from unlabelled data. These powerful spatial and semantic representations can then be jointly optimized with policies for elementary navigation tasks. The presented explorations open interesting avenues for control of embodied physical agents and general strategies for design and development of general purpose autonomous systems.
Bio: Jana Kosecka is Professor at the Department of Computer Science, George Mason University. She obtained Ph.D. in Computer Science from University of Pennsylvania. Following her PhD, she was a postdoctoral fellow at the EECS Department at University of California, Berkeley. She is the recipient of David Marr's prize and received the National Science Foundation CAREER Award. Jana is a chair of IEEE technical Committee of Robot Perception, Associate Editor of IEEE Robotics and Automation Letters and International Journal of Computer Vision, former editor of IEEE Transactions on Pattern Analysis and Machine Intelligence. She held visiting positions at Stanford University, Google and Nokia Research. She is a co-author of a monograph titled Invitation to 3D vision: From Images to Geometric Models. Her general research interests are in Computer Vision and Robotics. In particular she is interested 'seeing' systems engaged in autonomous tasks, acquisition of static and dynamic models of environments by means of visual sensing and human-computer interaction.