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Evolution of Robot Vision and the Pursuit of Behavioral Robotics in the Modern Era

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This narrative chronicles the journey of a Ph.D. candidate in robot vision, exploring the early academic and experimental phases in the field from 1989 to 2005. It highlights significant projects, key mentors, and philosophical shifts towards behavior-based and virtual robotics. Insights include collaborative experiences, fascinating technologies like modular vision systems, and the playful yet profound metaphor of "boxes." The author reflects on the intersection of robotics, navigation, and real-world complexity, leaving a legacy of enthusiasm and innovative thinking.

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Evolution of Robot Vision and the Pursuit of Behavioral Robotics in the Modern Era

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  1. Claus B. Madsen, CVMT/AAU Something about boxes...

  2. SPRING 1989 • First semester of the ”Civilingeniør” study in ”Medico-teknik og Billedanalyse” • Plan: one semester ”billedanalyse”, then specialize for a year in ”medico-teknik”, then work for a company ”saving the world” and making a lot of money • Erik proposes: work on robotvision project and get chance to go to US in the fall...

  3. Put-in-box robot

  4. Erik as supervisor Meet EG, Wednesday 11 o’clock

  5. Erik with professor traits • Glasses in holder around the neck • Pen that could write in three colors (pencil, ballpoint blue, ballpoint red) • ”Slippers” • Leather west • Arrived late, left very late

  6. Erik as ”family father” for the lab • Relaxed attitude • ”Open door” policy ... with moderation  • Keen on festivities

  7. Summer 1989

  8. Were we a little too relaxed?

  9. Mobile robot, Knoxville, Tennessee

  10. Modular vision systems 1990 - 1994 Key words characterizing this period: Vision philosophy (active vision, purposive vision,...) Systems Sequences High level reasoning Region of interest Qualitative

  11. Blocks’ (Box) World

  12. I got Ph.D. in measuring angles  My thesis advisor was Henrik Iskov Christensen, and I was his first Ph.D. ”child”. Henrik was Erik’s first Ph.D. child. Henrik is now robotics chair at Georgi Institure of Technology

  13. Autumn 1994

  14. Spring 1996 Grey level REAL box world 

  15. 1995 - 1999 Behaviour based robotics Vision for navigation

  16. The EG lunch box 

  17. The interest in virtual reality • We believe in behaviour-based robotics... • We have all the right ideas, the real world is just a little too complicated... • What about virtual robotics?

  18. Summer 1998

  19. Backup in case video doesn’t work

  20. Puppet 1998 - 2001 Characterizing words: Behaviours Emergence Sense-plan-action Reactive Agents

  21. A Puppet anecdote The proposal writing/submission crunch...

  22. Puppet

  23. Two important boxes...

  24. BENOGO 2002 - 2005 • Photoreal virtual reality • Getting the world ”into the box” • We were again really, really enthusiastic • The proposal writing was gruelling (Erik had the flu)

  25. BENOGO video

  26. The BENOGO box

  27. Post BENOGO • I really, really knew what I wanted to work with • You invested yourself in the Ballerup campus and the multi-campus institute

  28. Colors, real-world, outdoor... Box world is dead Philosophies are dead? Systems, model-based, real-time,...

  29. The future? • Som vi siger på jydsk: dit ”barn” er godt i vej! • Du efterlader en arv som er uendeligt meget mere end blandede kasser

  30. The sand box metaphor

  31. Thanks...

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