Simultaneous Localization, Mapping and Deblurring

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• Prof. Kyoung Mu Lee, Seoul National University
• Friday 30 August 2013, 14:00-15:00
• Dennis Gabor Seminar Room (611), EEE Department.

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Handling motion blur is one of important issues in practical visual SLAM (Simultaneous Localization and Mapping) and SFM (Structure from Motion). For a fast-moving camera, motion blur is an unavoidable phenomenon and it usually degrades the localization and reconstruction accuracies severely. In this talk, we present a unified algorithm to handle motion blur and visual SLAM simultaneously. In our framework, camera motion and 3-D point structures are reconstructed by SLAM , and the information from SLAM makes the estimation of motion blur quite easy and effective. In turn, estimating motion blur enables robust data association and drift-free localization of SLAM with blurred images. In this way, visual SLAM and deblurring are solved simultaneously, and improve each other’s results significantly.

Kyoung Mu Lee received the B.S. and M.S. Degrees in Control and Instrumentation Eng. from Seoul National University, Seoul, Korea in 1984 and 1986, respectively, and Ph. D. degree in Electrical Engineering from the University of Southern California in 1993. He is currently with the Dept. of EECE at Seoul National University as a professor and the director of the Automation Systems and Research Institute. His primary research interests include object recognition, MRF optimization, tracking, and visual navigation. He is currently serving as an Associate Editor of the IPSJ Trans. on CVA , MVA, the Journal of HMSP , and IEEE Signal Processing Letters. He also has served as a Program Chair and Area Chairs of ACCV , CVPR, and ICCV . He is a Distinguished Lecturer of the Asia-Pacific Signal and Information Processing Association (APSIPA) for 2012-2013. More information can be found on his homepage http://cv.snu.ac.kr/kmlee

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