ICRA 2011 workshop: Semantic Perception, Mapping and Exploration (SPME)


ICRA 2011 Workshop: Semantic Perception, Mapping and Exploration (SPME) 

Motivation and objectives:

Semantic perception for intelligent systems such as robots has seen a lot of progress recently, with many new and interesting techniques being developed in parallel by different research groups. To cope with a wide variety of tasks, service robots need to plan in spaces exceeding their local perceptual space. For deployment in human living environments, these robots need to aggregate and model perceived semantic information. A further requirement, for autonomous operation in the long-term, is the ability to acquire and update the necessary information, which involves actively exploring the environment.

A number of previous workshops have brought together researchers working on use of semantic information in a variety of domains including mapping for mobile robots, mobile manipulation, and semantic robot vision. The main focus of this workshop is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information from the environment. The workshop will provide a common forum where people can exchange ideas and experiences on all aspects of this problem, and identify the common questions and concerns.


We solicit paper submissions, optionally accompanied by a video, both of which will be reviewed (not double-blind) by the program committee. The review criteria will be: technical quality, significance of system demonstration, and topicality. We aim to accept 9 to 12 papers for oral presentation at the meeting. Papers should be up to 6 pages in length, formatted according to the IEEE ICRA style. Videos will be shown during an afternoon session open to the public. Accepted papers and videos will be assembled into proceedings and distributed in CD format at the workshop. If there is sufficient interest, we will pursue publication of a special journal issue to include the best papers.

Topics of interest include, but are not necessary limited to:

  • Semantic robot vision and scene interpretation for mobile manipulation
  • Segmentation and annotation of natural scenes (e.g. from images or point clouds)
  • Exploration strategies for semantic mapping and knowledge acquisition
  • Semantic approaches for long-term operation in dynamic environments
  • Ontologies and efficient representations for managing semantic information in robotics
  • Use of semantic information in mapping (e.g. registration of sensory information) or knowledge acquisition

For submissions, please visit https://www.easychair.org/conferences/?conf=spme2011

Program Committee:

  • Francesco Amigoni, Politecnico di Milano, Italy
  • Michael Beetz, Technische Universitaet Muenchen, Germany
  • Sven Behnke, University of Bonn, Germany
  • Tom Duckett, University of Lincoln, UK
  • Joachim Hertzberg, University of Osnabrueck, Germany
  • Patric Jensfelt, KTH Royal Institute of Technology, Sweden
  • Jim Little, University of British Columbia, Canada
  • Eitan Marder-Eppstein, Willow Garage, USA
  • Bhaskara Marthi, Willow Garage, USA
  • Markus Vincze, TU Vienna, Austria
  • David Silver, Carnegie Mellon University, USA
  • Bertrand Douillard, University of Sydney, Australia


09:00 - 09:30

Invited Talk:

Gary Bradski

[Title to be announced]

09:30 - 10:00

Sven Albrecht, Thomas Wiemann, Martin Günther and Joachim Hertzberg

Matching CAD Object Models in Semantic Mapping

10:00 - 10:30

Invited Talk:

Andrzej Pronobis and Patric Jensfelt

Building and exploiting semantic maps

10:30 - 11:00

Coffee break

11:00 - 11:30

Kai Zhou, Karthik Mahesh Varadarajan, Andreas Richtsfeld, Michael Zillich and Markus Vincze

From holistic scene understanding to semantic visual perception: A vision system for mobile robot

11:30 - 12:00

Karthik Mahesh Varadarajan and Markus Vincze

Functional Room Detection and Modeling using Stereo Imagery in Domestic Environments

12:00 - 14:00

Lunch break

14:00 - 14:30

Gert Kootstra, Niklas Bergström and Danica Kragic

Gestalt Principles for Attention and Segmentation in Natural and Artificial Vision Systems

14:30 - 15:00

Tucker Hermans, James M. Rehg and Aaron Bobick

Affordance Prediction via Learned Object Attributes

15:00 - 15:30

Georg Arbeiter, Martin Hägele and Alexander Verl

Field of view dependent registration of point clouds and incremental extraction of table-tops using time-of-flight cameras

15:30 - 16:00

Coffee break

16:00 - 16:30

Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth and Michael Beetz

Inferring Generalized Pick-and-Place Tasks from Pointing Gestures

16:30 - 17:00

Panel Discussion (open to public) and Closing Remarks (by organizers)



Starting at 17:00

ICRA 2011 Opening Ceremony