Team

Maciej Stefańczyk

His main research interests include the use of visual information on many fields, including robotics and computer entertainment systems.

Selected projects list (start date):

2022

SMIT: Safety-aware Management of robot’s Interruptible Tasks in dynamic environments (researcher)

2020

Robot Kompan: Look & learn: Skill acquisition by a companion robot based on task demonstration (researcher)

2018

2017

2016

2015

Grant rektorski dla kół naukowych (KNR Bionik): Przygotowanie i przeprowadzenie zawodów robotów sportowych Bionikalia 2015 (researcher)

2014

2013

2012

2011

Grant rektorski dla kół naukowych (KNR Bionik): KinectBot - autonomiczne sterowanie robota mobilnego w nieustrukturyzowanym i dynamicznie zmiennym środowisku (researcher)

2009

PIAP: Autonomiczny dojazd robota mobilnego SCOUT w miejsce inspekcji (researcher)

Selected publications chronological list:

2021

D. Gruszczyński and M. Stefańczyk
Active fall prevention: robotic vision in AAL
arXiv:2103.09298, 2021
[ BIB | abstract | URL ]
```
@article{gruszczynski-active-fall-21-twiki,
  author = {Gruszczyński, Dawid and Stefańczyk, Maciej},
  journal = {arXiv:2103.09298},
  title = {Active fall prevention: robotic vision in AAL},
  year = {2021},
  projects = {aal-incare},
  twiki = {article},
  url = {http://arxiv.org/abs/2103.09298}
}
```
Effective methods of preventing falls significantly improve the quality of life of the Elderly. Nowadays, people focus mainly on the proper provision of the apartment with handrails and fall detection systems once they have occurred. The article presents a system of active detection and classification of the risk of falls in the home space using a service robot equipped with a vision sensor. Hazard classification allows for effective performance of tasks assigned to the robot while maintaining a high level of user safety.
K. Chachuła and M. Stefańczyk
The utilization of spherical camera in simulation for service robotics
arXiv:2103.09297, 2021
[ BIB | abstract | URL ]
```
@article{chachula-spherical-camera-21-twiki,
  author = {Chachuła, Krystian and Stefańczyk, Maciej},
  journal = {arXiv:2103.09297},
  title = {The utilization of spherical camera in simulation for service robotics},
  year = {2021},
  projects = {aal-incare},
  twiki = {article},
  url = {http://arxiv.org/abs/2103.09297}
}
```
Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common steps in robotic system development is the utilization of simulators, which are very good for tasks like navigation or manipulation. Testing vision systems is more challenging, as the simulated data often is far from the real camera readings. In this paper, we show the advantages of using the spherical camera for recording the sequences of test images and a way to integrate those with existing robotic simulator. The presented system also has the possibility to be extended with rendered objects to further improve its usability.

2020

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Węgierek, D. Seredyński, M. Figat, and C. Zieliński
Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. No. 5 (October), pp. 1187–1205, 2020
[ BIB | DOI | abstract ]
```
@article{kasprzak2020agent,
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Węgierek, Maciej and Seredyński, Dawid and Figat, Maksym and Zieliński, Cezary},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control},
  year = {2020},
  number = {No. 5 (October)},
  pages = {1187-1205},
  volume = {68},
  doi = {10.24425/bpasts.2020.134662},
  projects = {NPC},
  howpublished = {online},
  keywords = {multimodal interface, cyber security visualisation, embodied agent},
  twiki = {journal}
}
```
Convenient human-computer interaction is essential to carry out many exhausting and concentration-demanding activities. One of them is cyber-situational awareness as well as dynamic and static risk analysis. A specific design method for a multimodal human-computer interface (HCI) for cyber-security events visualisation control is presented. The main role of the interface is to support security analysts and network operators in their monitoring activities. The proposed method of designing HCIs is adapted from the methodology of robot control system design. Both kinds of systems act by acquiring information from the environment, and utilise it to drive the devices influencing the environment. In the case of robots the environment is purely physical, while in the case of HCIs it encompasses both the physical ambience and part of the cyber-space. The goal of the designed system is to efficiently support a human operator in the presentation of cyberspace events such as incidents or cyber-attacks. Especially manipulation of graphical information is necessary. As monitoring is a continuous and tiring activity, control of how the data is presented should be exerted in as natural and convenient way as possible. Hence two main visualisation control modalities have been assumed for testing: static and dynamic gesture commands and voice commands, treated as supplementary to the standard interaction. The presented multimodal interface is a component of the Operational Centre, which is a part of the National Cybersecurity Platform. Creation of the interface out of embodied agents proved to be very useful in the specification phase and facilitated the interface implementation.
M. Stefańczyk and T. Bocheński
Mixing deep learning with classical vision for object recognition
Journal of WSCG, vol. 28, no. 1-2, pp. 147–154, 2020
[ BIB | DOI | abstract ]
```
@article{stefanczyk2020mixing,
  author = {Stefańczyk, Maciej and Bocheński, Tomasz},
  title = {Mixing deep learning with classical vision for object recognition},
  journal = {Journal of WSCG},
  volume = {28},
  number = {1-2},
  pages = {147-154},
  year = {2020},
  projects = {PreludiumMS},
  doi = {10.24132/JWSCG.2020.28.18}
}
```
Nowadays, when one needs a system for image recognition, it is mostly a matter of finding pre-trained CNN and, sometimes, adding additional training based on transferred knowledge. Accurate 6-DOF object localization in the image is a more laborious task and requires more complex training data to be available. On the other hand, if we know the model of the object, it is straightforward to acquire its pose from the image (RGB or RGB-D). In this paper, we try to show the advantages of mixing deep learning object recognition/detection with classical 6-DOF pose estimation algorithms, with a focus on applications in service robotics.
W. Szynkiewicz, W. Kasprzak, C. Zieliński, W. Dudek, M. Stefańczyk, A. Wilkowski, and M. Figat
Utilisation of Embodied Agents in the Design of Smart Human–Computer Interfaces – A Case Study in Cyberspace Event Visualisation Control
Electronics, vol. 9, no. 6, p. 976, 2020
[ BIB | DOI | abstract | URL ]
```
@article{utilisation2020-twiki,
  author = {Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Zieliński, Cezary and Dudek, Wojciech and Stefańczyk, Maciej and Wilkowski, Artur and Figat, Maksym},
  title = {{Utilisation of Embodied Agents in the Design of Smart Human–Computer Interfaces -- A Case Study in Cyberspace Event Visualisation Control}},
  journal = {Electronics},
  year = {2020},
  volume = {9},
  number = {6},
  article-number = {976},
  pages = {976},
  doi = {10.3390/electronics9060976},
  projects = {npc},
  twiki = {journal},
  url = {https://www.mdpi.com/2079-9292/9/6/976}
}
```
The goal of the research reported here was to investigate whether the design methodology utilising embodied agents can be applied to produce a multi-modal human–computer interface for cyberspace events visualisation control. This methodology requires that the designed system structure be defined in terms of cooperating agents having well-defined internal components exhibiting specified behaviours. System activities are defined in terms of finite state machines and behaviours parameterised by transition functions. In the investigated case the multi-modal interface is a component of the Operational Centre which is a part of the National Cybersecurity Platform. Embodied agents have been successfully used in the design of robotic systems. However robots operate in physical environments, while cyberspace events visualisation involves cyberspace, thus the applied design methodology required a different definition of the environment. It had to encompass the physical environment in which the operator acts and the computer screen where the results of those actions are presented. Smart human–computer interaction (HCI) is a time-aware, dynamic process in which two parties communicate via different modalities, e.g., voice, gesture, eye movement. The use of computer vision and machine intelligence techniques are essential when the human is carrying an exhausting and concentration demanding activity. The main role of this interface is to support security analysts and operators controlling visualisation of cyberspace events like incidents or cyber attacks especially when manipulating graphical information. Visualisation control modalities include visual gesture- and voice-based commands.
A. Wilkowski, M. Stefańczyk, and W. Kasprzak
Training Data Extraction and Object Detection in Surveillance Scenario
Sensors, vol. 20, no. 9, p. 2689, 2020
[ BIB | DOI | abstract | URL ]
```
@article{wilkowski2020training,
  author = {Wilkowski, Artur and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  title = {{Training Data Extraction and Object Detection in Surveillance Scenario}},
  journal = {Sensors},
  year = {2020},
  volume = {20},
  number = {9},
  pages = {2689},
  article-number = {2689},
  doi = {10.3390/s20092689},
  projects = {npc},
  twiki = {journal},
  url = {https://www.mdpi.com/1424-8220/20/9/2689}
}
```
Police and various security services use video analysis for securing public space, mass events, and when investigating criminal activity. Due to a huge amount of data supplied to surveillance systems, some automatic data processing is a necessity. In one typical scenario, an operator marks an object in an image frame and searches for all occurrences of the object in other frames or even image sequences. This problem is hard in general. Algorithms supporting this scenario must reconcile several seemingly contradicting factors: training and detection speed, detection reliability, and learning from small data sets. In the system proposed here, we use a two-stage detector. The first region proposal stage is based on a Cascade Classifier while the second classification stage is based either on a Support Vector Machines (SVMs) or Convolutional Neural Networks (CNNs). The proposed configuration ensures both speed and detection reliability. In addition to this, an object tracking and background-foreground separation algorithm is used, supported by the GrabCut algorithm and a sample synthesis procedure, in order to collect rich training data for the detector. Experiments show that the system is effective, useful, and applicable to practical surveillance tasks.
T. Winiarski, W. Dudek, M. Stefańczyk, Ł. Zieliński, D. Giełdowski, and D. Seredyński
An intent-based approach for creating assistive robots’ control systems
arXiv:2005.12106, 2020
[ BIB | DOI | abstract ]
```
@article{winiarski-intent-20-twiki,
  author = {Winiarski, Tomasz and Dudek, Wojciech and Stefańczyk, Maciej and Zieliński, Łukasz and Giełdowski, Daniel and Seredyński, Dawid},
  journal = {arXiv:2005.12106},
  title = {An intent-based approach for creating assistive robots' control systems},
  year = {2020},
  doi = {10.48550/arXiv.2005.12106},
  projects = {aal-incare,EARL},
  twiki = {article}
}
```
The current research standards in robotics demand general approaches to robots’ controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users’ intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.

2019

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2

Pomiary Automatyka Robotyka, vol. 23, pp. 5–18, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa2,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {5--18},
  doi = {10.14313/PAR_234/5},
  url = {http://www.par.pl/content/download/14939/183623/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowej_2.pdf}
}

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1

Pomiary Automatyka Robotyka, vol. 23, pp. 41–54, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {41--54},
  doi = {10.14313/PAR_233/41},
  url = {http://www.par.pl/content/download/14931/183512/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowejPlatformyCyberbezpiecze%C5%84stwaCz1.pdf}
}

A. Wilkowski, W. Kasprzak, and M. Stefańczyk

Object detection in the police surveillance scenario

in Proceedings of the 2019 Federated Conference on Computer Science and Information Systems, 2019, vol. 18, pp. 363–372

[ BIB | DOI | URL ]

@inproceedings{FedCSIS2019291,
  author = {Wilkowski, Artur and Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  pages = {363--372},
  title = {Object detection in the police surveillance scenario},
  booktitle = {Proceedings of the 2019 Federated Conference on Computer Science and Information Systems},
  year = {2019},
  editor = {Ganzha, Maria and Maciaszek, Leszek and Paprzycki, Marcin},
  publisher = {IEEE},
  doi = {10.15439/2019F291},
  url = {http://dx.doi.org/10.15439/2019F291},
  volume = {18},
  series = {Annals of Computer Science and Information Systems}
}

M. Stefańczyk, D. Seredyński, and M. Węgierek

Handcrafted features for CNN – is it worth it?

in Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI’2019 Conference Proceedings, 2019, pp. 146–149

[ BIB | URL ]

@inproceedings{stefanczyk:2019-pprai-twiki,
  author = {Stefańczyk, Maciej and Seredyński, Dawid and Węgierek, Maciej},
  booktitle = {{Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI'2019 Conference Proceedings}},
  title = {Handcrafted features for CNN -- is it worth it?},
  year = {2019},
  pages = {146-149},
  projects = {PreludiumMS},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/stefanczyk_pprai.pdf}
}

2018

M. Stefańczyk
Wykorzystanie informacji o głębi w celu poprawy jakości deskryptorów RGB
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, p. xx
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk18wykorzystanie-twiki,
  author = {Stefańczyk, Maciej},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wykorzystanie informacji o głębi w celu poprawy jakości deskryptorów RGB}},
  year = {2018},
  pages = {xx},
  volume = {1},
  conference = {kkr15},
  projects = {PreludiumMS},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/stefanczyk2018wykorzystanie.pdf}
}
```
Problem zniekształceń geometrycznych obrazu jest rozwiązywany mniej lub bardziej skutecznie w istniejących detektorach i deskryptorach punktów kluczowych. Rozwiązania te są jednak zaszyte jako integralna część algorytmów, często uniemożliwiając ich wykorzystanie w innych zastosowaniach. Analiza literatury i dotychczasowych rozwiązań pozwala stwierdzić, że nie stworzono do tej pory rozwiązania, które mogłoby być uniwersalne i stosowane jako krok pośredni korekcji, pomiędzy detekcją punktów kluczowych a obliczeniem ich deskryptorów. Stworzenie tego typu algorytmu, w przeciwieństwie do kolejnego, ,,jeszcze lepszego” deskryptora, pozwoli na łatwą integrację w istniejących zastosowaniach, niezależnie od wybranego zestawu detektor/deskryptor.
M. Stefańczyk and W. Kasprzak
Model-Based 3D Object Recognition in RGB-D Images
in Bridging the Semantic Gap in Image and Video Analysis,
H. Kwaśnicka and L. C. Jain, Eds. Springer, 2018, pp. 73–96 [ BIB | DOI | abstract ]
```
@inbook{stefanczyk2018,
  author = {Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  editor = {Kwaśnicka, Halina and Jain, Lakhmi C.},
  title = {Model-Based {3D} Object Recognition in {RGB-D} Images},
  booktitle = {{Bridging the Semantic Gap in Image and Video Analysis}},
  year = {2018},
  publisher = {Springer},
  pages = {73--96},
  isbn = {978-3-319-73891-8},
  doi = {10.1007/978-3-319-73891-8_5},
  twiki = {inbook}
}
```
A computational framework for 3D object recognition in RGB-D images is presented. The focus is on computer vision applications in indoor autonomous robotics, where objects need to be recognized either for the purpose of being grasped and manipulated by the robot, or where the entire scene must be recognized to allow high-level cognitive tasks to be performed. The framework integrates solutions for generic (i.e. type-based) object representation (e.g. semantic networks), trainable transformations between abstraction levels (e.g. by neural networks), reasoning under uncertain and partial data (e.g. Dynamic Bayesian Networks, Fuzzy Logic), optimized model-to-data matching (e.g. constraint optimization problems) and efficient search strategies (switching between data- and model-driven inference steps). The computational implementation of the object model and the object recognition strategy is presented in more details. Testing scenarios deal with the recognition of cups and bottles or household furniture. Conducted experiments and the chosen applications confirmed, that this approach is valid and may easily be adapted to multiple scenarios.
M. Stefańczyk
Improving RGB descriptors using depth cues
in Computer Vision and Graphics, 2018, vol. 11114, pp. 251–262
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2018improving-twiki,
  author = {Stefańczyk, Maciej},
  booktitle = {Computer Vision and Graphics},
  title = {Improving {RGB} descriptors using depth cues},
  year = {2018},
  volume = {11114},
  series = {Lecture Notes in Computer Science},
  pages = {251--262},
  publisher = {Springer International Publishing},
  doi = {10.1007/978-3-030-00692-1_22},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/stefanczyk2018improving.pdf},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  twiki = {article},
  projects = {PreludiumMS}
}
```
Geometrical distortions are tackled in different way in multiple keypoint detection and feature extraction algorithms. However, those are implemented as an integral part of the solution, making it impossible to use the same distortion removal method in other solutions. To the best of authors knowledge, there are no universal methods of distortion removal, that can be used as an intermediate step, between keypoint detection and feature extraction. Creating that kind of algorithm, instead of development of yet another ‘robust descriptor’, will enable seamless integration in existing applications, and, possibly, will increase object recognition success rate, independent of the selected keypoint detector/descriptor pair.

2017

C. Zieliński, M. Stefańczyk, T. Kornuta, M. Figat, W. Dudek, W. Szynkiewicz, W. Kasprzak, J. Figat, M. Szlenk, T. Winiarski, K. Banachowicz, T. Zielińska, E. G. Tsardoulias, A. L. Symeonidis, F. E. Psomopoulos, A. M. Kintsakis, P. A. Mitkas, A. Thallas, S. E. Reppou, G. T. Karagiannis, K. Panayiotou, V. Prunet, M. Serrano, J.-P. Merlet, S. Arampatzis, A. Giokas, L. Penteridis, I. Trochidis, D. Daney, and M. Iturburu
Variable structure robot control systems: The RAPP approach
Robotics and Autonomous Systems, vol. 94, pp. 226–244, 2017
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2017variable-twiki,
  author = {Zieliński, Cezary and Stefańczyk, Maciej and Kornuta, Tomasz and Figat, Maksym and Dudek, Wojciech and Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Figat, Jan and Szlenk, Marcin and Winiarski, Tomasz and Banachowicz, Konrad and Zielińska, Teresa and Tsardoulias, Emmanouil G. and Symeonidis, Andreas L. and Psomopoulos, Fotis E. and Kintsakis, Athanassios M. and Mitkas, Pericles A. and Thallas, Aristeidis and Reppou, Sofia E. and Karagiannis, George T. and Panayiotou, Konstantinos and Prunet, Vincent and Serrano, Manuel and Merlet, Jean-Pierre and Arampatzis, Stratos and Giokas, Alexandros and Penteridis, Lazaros and Trochidis, Ilias and Daney, David and Iturburu, Miren},
  title = {Variable structure robot control systems: The RAPP approach},
  journal = {Robotics and Autonomous Systems},
  year = {2017},
  volume = {94},
  pages = {226 - 244},
  issn = {0921-8890},
  doi = {10.1016/j.robot.2017.05.002},
  projects = {fp7rapp},
  publisher = {Elsevier},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/rapp-ras.pdf},
  note = {Zielinski}
}
```
This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services.

T. Kornuta and M. Stefańczyk

MODREG: a modular framework for RGB-D image acquisition and 3D object model registration

Foundations of Computing and Decision Sciences, vol. 42, no. 3, pp. 183–201, 2017

[ BIB | DOI ]

@article{kornuta2017modreg,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Foundations of Computing and Decision Sciences},
  title = {{MODREG: a modular framework for RGB-D image acquisition and 3D object model registration}},
  year = {2017},
  number = {3},
  pages = {183-201},
  volume = {42},
  doi = {10.1515/fcds-2017-0009},
  twiki = {journal}
}

2016

A. Wilkowski and M. Stefańczyk
Detection and recognition of compound 3D models by hypothesis generation
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 659–668, 2016
[ BIB | DOI | abstract ]
```
@article{wilkowski2016detection-twiki,
  author = {Wilkowski, Artur and Stefańczyk, Maciej},
  title = {Detection and recognition of compound {3D} models by hypothesis generation},
  year = {2016},
  volume = {440},
  pages = {659-668},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_57},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  zadanie = {piap4}
}
```
In the paper there is proposed an integrated object detection and recognition system, based on object description given in semantic form [5]. The objects are described in a generic way in terms of parts and relations between them. The Bayesian inference system is utilized, so each object detection and recognition score has probabilistic interpretation. There are designed basic 3D models founded on the inference framework. Object instances are then detected and recognized in real-world Kinect RGBD images.
A. Wilkowski, T. Kornuta, M. Stefańczyk, and W. Kasprzak
Efficient generation of 3D surfel maps using RGB-D sensors
International Journal of Applied Mathematics And Computer Science (AMCS), vol. 26, no. 1, pp. 99–122, 2016
[ BIB | DOI | abstract | URL ]
```
@article{Wilkowski2014_amcs_surfels-twiki,
  author = {Wilkowski, Artur and Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  title = {Efficient generation of 3D surfel maps using RGB-D sensors},
  journal = {International Journal of Applied Mathematics And Computer Science (AMCS)},
  year = {2016},
  volume = {26},
  number = {1},
  pages = {99-122},
  doi = {10.1515/amcs-2016-0007},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.11.27},
  twiki = {jcr},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/14-amcs-rgbd.pdf}
}
```
The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.
M. Stefańczyk, M. Laszkowski, and T. Kornuta
WUT Visual Perception Dataset – a dataset for registration and recognition of objects
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 635–645, 2016
[ BIB | DOI | abstract | URL ]
```
@article{stefanczyk2016wut-twiki,
  author = {Stefańczyk, Maciej and Laszkowski, Michał and Kornuta, Tomasz},
  title = {{WUT Visual Perception Dataset -- a dataset for registration and recognition of objects}},
  year = {2016},
  pages = {635-645},
  volume = {440},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_55},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/rgbd-dataset.pdf},
  zadanie = {pw12}
}
```
Modern robots are typically equipped with many sensors with different modalities, e.g. RGB cameras, Time-of-Flight cameras or RGB-D sensors. Thus development of universal, modality-independent algorithms require appropriate datasets and benchmarks. In this paper we present WUT Visual Perception Dataset, consisting of five datasets, captured with different sensors with the goal of development, comparison and evaluation of algorithms for automatic object model registration and object recognition.
M. Stefańczyk and R. Pietruch
Hypothesis generation in generic, model-based object recognition system
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 717–727, 2016
[ BIB | DOI | abstract ]
```
@article{stefanczyk2016hypothesis-twiki,
  author = {Stefańczyk, Maciej and Pietruch, Rafał},
  title = {Hypothesis generation in generic, model-based object recognition system},
  year = {2016},
  volume = {440},
  pages = {717-727},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_62},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  zadanie = {piap4}
}
```
One of the key problems in robotics is ability to search and recognize objects, as well as their reliable localization. Existing object-detection solutions relies either on instance-models, making them unable to generalize, or can’t estimate object pose if the model is not known at hand. We aim at making system able to work with generic models, described using set of simple parts and relations between them, as well as localize them on scene. Article presents hypothesis generation part of the designed system.
K. Przerwa, W. Kasprzak, and M. Stefańczyk
Infrared image-based 3D surface reconstruction of free-form texture-less objects
in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 809–820
[ BIB | DOI | abstract | URL ]
```
@inproceedings{przerwa2015infrared-twiki,
  author = {Przerwa, Karolina and Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015},
  title = {Infrared image-based 3D surface reconstruction of free-form texture-less objects},
  year = {2016},
  series = {Advances in Intelligent Systems and Computing},
  pages = {809--820},
  publisher = {Springer},
  doi = {10.1007/978-3-319-26227-7_76},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/wk-sfs-kinect.pdf}
}
```
The analysis of infrared (IR) images obtained from a robot-mounted camera is presented, with the purpose to reconstruct the 3D surface of texture-less objects located in close range to the camera. The prospective application of this approach is object’s pose recognition with the aim of object grasping by a robot hand. Algorithms are developed that rely on the analysis of the luminance distribution in the IR image (the so-called shape-from-shading approach), followed by a depth-map approximation. Laboratory tests were carried out in order to evaluate the quality of obtained depth maps on some reference objects and to compare the estimated depth maps with corresponding point clouds acquired by a MS-Kinect device.
T. Winiarski, W. Kasprzak, M. Stefańczyk, and M. Walęcki
Automated inspection of door parts based on fuzzy recognition system
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 478–483
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_winiarski_automated-2016-twiki,
  author = {Winiarski, Tomasz and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Automated inspection of door parts based on fuzzy recognition system}},
  year = {2016},
  pages = {478--483},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575182},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_winiarski_automated.pdf}
}
```
The article presents a comprehensive strategy of door parts (locks, handles, doorplates etc.) examination as a paradigm of active sensing. It covers the whole process – from segmentation, through initial hypothesis generation based on fuzzy inference, to final recognition and precise localization of the keyholes in a robot base coordinate system. The strategy is a preliminary stage of a door locks opening procedure. The image analysis process is divided into three steps. First, an initial region of interest is localized using a RGB-D low resolution camera mounted on the robot’s head. It is then categorized, based on its properties, as a lock, handle, doorplate etc. Finally it is inspected using 2D camera mounted on the robot’s arm. Thanks to the preliminary localization with the head camera the robot can look at the point of interest at sight, without time-consuming thorough inspection of the whole door. The whole system was formally specified as an embodied agent. For that purpose a system modeling language was used to specify embodied agent subsystems behaviors. The proposed strategy is verified experimentally using Velma prototype service robot.
D. Seredyński, M. Stefańczyk, K. Banachowicz, B. Świstak, V. Kutia, and T. Winiarski
Control system design procedure of a mobile robot with various modes of locomotion
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 490–495
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{mmar_seredynski_control-2016-twiki,
  author = {Seredyński, Dawid and Stefańczyk, Maciej and Banachowicz, Konrad and Świstak, Bartosz and Kutia, Vitalii and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Control system design procedure of a mobile robot with various modes of locomotion}},
  year = {2016},
  pages = {490--495},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575184},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_seredynski_control.pdf},
  video = {https://www.youtube.com/watch?v=lnnb9ZKDu4M}
}
```
In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custombuilt Lynx mobile robot with vertical and horizontal modes of locomotion.
T. Kornuta and M. Stefańczyk
Utilization of textured stereovision for registration of 3D models of objects
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 1088–10093
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_kornuta_utilization-2016-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Utilization of textured stereovision for registration of 3D models of objects}},
  year = {2016},
  pages = {1088--10093},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575289},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_kornuta_utilization.pdf}
}
```
RGB-D sensors triggered a rapid progress in the field of robot visual perception. A typical visual perception subsystem relies on finding the correspondences between features extracted from RGB-D images retrieved from robot sensors and models of objects. In this paper we introduce a multi-camera setup supplemented with an additional pattern projector used for registration of high-resolution images of objects. The objects are placed on a fiducial board with two dot patterns enabling robust extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system for generation of consistent 3D models of objects. We present details of the developed system and conclude the paper with discussion of the achieved results.
M. Łępicka, T. Kornuta, and M. Stefańczyk
Utilization of colour in ICP-based point cloud registration
in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 821–830
[ BIB | DOI | abstract | URL ]
```
@inproceedings{lepicka:2015:cores,
  author = {Łępicka, Marta and Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015},
  title = {Utilization of colour in ICP-based point cloud registration},
  year = {2016},
  series = {Advances in Intelligent Systems and Computing},
  pages = {821--830},
  publisher = {Springer},
  doi = {10.1007/978-3-319-26227-7_77},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2015.04.22},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/color-normals-icp.pdf}
}
```
Advent of RGB-D sensors fostered the progress of computer vision algorithms spanning from object recognition, object and scene modelling to human activity recognition. The paper presents a new flavour of ICP algorithm developed for the purpose of pair-wise registration of colour point clouds generated from RGB-D images. After a brief introduction to the registration problem we analyse the ICP algorithm and survey its different flavours in order to indicate potential methods of injecting of colour into it. Our consideration led to a solution, which we validate experimentally on colour point clouds from the publicly available dataset.
T. Kornuta and M. Stefańczyk
Porównanie metod akwizycji obrazów RGB-D na potrzeby rejestracji trójwymiarowych modeli obiektów
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 357–366
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_wykorzystanie_stereo_tekstur-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Porównanie metod akwizycji obrazów RGB-D na potrzeby rejestracji trójwymiarowych modeli obiektów}},
  year = {2016},
  pages = {357--366},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_wykorzystanie_stereo_tekstur.pdf}
}
```
Aby móc realizować zadania natury manipulacyjnej roboty muszą dysponować dobrej jakości, spójnymi modelami manipulowanych obiektów. Celem prac opisanych w poniższym referacie było opracowanie systemu do rejestracji trójwymiarowych modeli obiektów. Ponieważ jakość modeli uzyskiwanych za pomocą komercyjnych czujników RGB-D była niska, wytworzono układ wielokamerowy z dodatkowym oświetlaczem strukturalnym. W referacie pokrótce omówiono zaimplementowany system do rejestracji modeli oraz porównano modele otrzymane w oparciu o czujnik Microsoft Kinect oraz układ wielokamerowy.
M. Stefańczyk and M. Walęcki
Konstrukcja stolika obrotowego do celów akwizycji widoków do baz obiektów
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 447–455
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_stolik-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Konstrukcja stolika obrotowego do celów akwizycji widoków do baz obiektów}},
  year = {2016},
  pages = {447--455},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_stolik.pdf}
}
```
Robotyka usługowa, będąca od dłuższego czasu jednym z głównych kierunków zainteresowania robotyków na świecie, dąży do stworzenia robotów potrafiących współpracować z ludźmi bądź wyręczać ich w zadaniach poza fabrykami. W niemalże wszystkich tego typu zastosowaniach, jedną z kluczowych kwestii jest rozpoznawanie obiektów w otoczeniu robota. Dostępność pełnych, trójwymiarowych modeli tych przedmiotów znacząco poprawia jakość ich detekcji i rozpoznawania. Budowanie modeli obiektów jest dużo łatwiejsze przy zastosowaniu stolików obrotowych w celu akwizycji wielu widoków tego samego przedmiotu. W artykule przedstawiono projekt i budowę stanowiska do półautomatycznego zbierania wielu widoków obiektów.
C. Zieliński, W. Szynkiewicz, W. Kasprzak, M. Stefańczyk, M. Figat, W. Dudek, J. Figat, M. Szlenk, and T. Zielińska
Sterowniki o zmiennej strukturze w zastosowaniu do robotów społecznych
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 5–14
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_rapp-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Figat, Maksym and Dudek, Wojciech and Figat, Jan and Szlenk, Marcin and Zielińska, Teresa},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowniki o~zmiennej strukturze w~zastosowaniu do robotów społecznych}},
  year = {2016},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr14},
  projects = {fp7rapp},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_rapp.pdf}
}
```
Roboty społeczne współdziałają z ludźmi, a ci mogą wymagać bardzo różnorodnych usług. Trudno sobie wyobrazić pokładowy sterownik robota autonomicznego, który byłby w stanie podołać każdemu zleceniu. Sterownik pokładowy, dysponujący ograniczonymi zasobami, musi więc mieć strukturę rekonfigurowalną, umożliwiającą wymianę części oprogramowania -– w zależności od zleconego zadania. W takich systemach dodatkowe oprogramowanie pobierane jest z chmury obliczeniowej i to ono przejmuje nadzór nad robotem na czas wykonania zadania, a więc w tym przypadku nie tylko następuje wymiana oprogramowania, ale również zamiana ról –- sterownik nadrzędny staje się podrzędnym. Artykuł przedstawia zarówno ogólny sposób specyfikacji sterowników, jak i realizację przykładowego zadania.

2015

C. Zieliński, W. Szynkiewicz, M. Figat, K. T. Szlenk M., W. Kasprzak, M. Stefańczyk, T. Zielińska, and J. Figat
Reconfigurable control architecture for exploratory robots
in 10th International Workshop on Robot Motion and Control (RoMoCo), 2015, pp. 130–135
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Zielinski:2015_RoMoCo-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Figat, Maksym and Szlenk, M., Kornuta T. and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Zielińska, T. and Figat, Jan},
  booktitle = {10th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {Reconfigurable control architecture for exploratory robots},
  year = {2015},
  editor = {K.~Kozłowski},
  pages = {130--135},
  organization = {IEEE},
  doi = {10.1109/RoMoCo.2015.7219724},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/RoMoCo-RAPP.pdf},
  conference = {romoco15},
  projects = {fp7rapp},
  twiki = {article},
  note = {Zielinski}
}
```
Robots have to perform diverse and complex tasks. To face the limitations of the computational capabilities of robot on-board control computer, it is required to split the control systems between the robot embedded and the cloud computational resources. This paper presents a reconfigurable control architecture for a robot designed to meet this requirement. The embedded computer hosts a core agent, which provides the task-independent robot capabilities. The task dependent part called the dynamic agent is loaded from the cloud when required. The two mentioned agents execute the task, additionally utilising the capabilities of the cloud. Once the task is finished the dynamic agent is destroyed and the core agent awaits new user demands, upon which it reacts by downloading a new dynamic agent. Thus a reconfigurable system results, limited only by the resources provided by the cloud. The system is presented on an example of a humanoid robot exploring a home environment in search for hazards resulting from negligence of people suffering from mild dementia.
W. Kasprzak, M. Stefańczyk, and A. Wilkowski
Printed steganography applied for the authentication of identity photos in face verification
in Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on, 2015, pp. 512–517
[ BIB | DOI | abstract | URL ]
```
@inproceedings{kasprzak2015printed,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej and Wilkowski, Artur},
  booktitle = {Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on},
  title = {Printed steganography applied for the authentication of identity photos in face verification},
  year = {2015},
  pages = {512-517},
  keywords = {biometrics (access control);face recognition;steganography;Digimarc tool;Fujitsu method;ICAO-consistent travel document;biometric SDK-s;biometric verification;electronic image;face image authentication;face verification;identity photo authentication;print-scan process;printed steganography;triangle net method;Authentication;Biomedical imaging;Correlation;Distortion;Face;Testing;Watermarking;face biometrics;image authentication;printed steganography},
  doi = {10.1109/CYBConf.2015.7175987},
  month = jun,
  twiki = {article},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/cybconf.pdf}
}
```
Steganography methods are proposed for the authentication of the holder’s photo in an ICAO-consistent (travel) document. The embedded message is heavily influenced by the print-scan process, as the electronic image is first printed to be included into the document (or identity card) and is scanned next to constitute the reference template in an automatic face verification procedure. Two sufficiently robust steganography methods are designed, modifications of the “Fujitsu method” and the “triangle net” method. A third method, a commercial Digimarc tool is also applied. The methods are tested w.r.t. to face image authentication ability in a face verification procedure, using two commercial biometric SDK-s. Test results demonstrate the feasibility in biometric verification and high authentication quality of proposed approach.

2014

M. Walęcki, K. Banachowicz, M. Stefańczyk, T. Winiarski, R. Chojecki, and C. Zieliński
Korpus robota usługowego Velma
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 5–14
[ BIB | abstract | URL ]
```
@inproceedings{Walecki:2014_kkr_korpus-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Winiarski, Tomasz and Chojecki, Rafał and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Korpus robota usługowego Velma}},
  year = {2014},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-korpus-kkr13.pdf},
  zadanie = {pw11}
}
```
Dwuręczny robot Velma jest wykorzystywany w badaniach z dziedziny robotyki usługowej, prowadzonych w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. Niniejszy artykuł opisuje poszukiwanie koncepcji zwiększenia przestrzeni roboczej manipulatorów robota oraz jego przebudowę. Wyposażenie robota Velma w korpus o dwóch stopniach swobody rozszerzyło jego możliwości manipulacyjne, umożliwiając m.in. jego wykorzystanie w zadaniach związanych z otwieraniem pełnowymiarowego skrzydła drzwi wejściowych oraz manipulowanie obiektami leżącymi na stole. Dodanie obrotu korpusu do struktury robota sterowanego momentowo otworzyło nowe możliwości w badaniach nad wykorzystaniem sterowania impedancyjnego w robotyce usługowej.
M. Stefańczyk, M. Walęcki, K. Banachowicz, and T. Winiarski
Robot usługowy Velma – projekt i konstrukcja głowy
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 2, pp. 451–460
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2014robotkkr13-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Robot usługowy Velma -- projekt i konstrukcja głowy}},
  year = {2014},
  pages = {451--460},
  volume = {2},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-glowa-kkr13.pdf}
}
```
Robot usługowy Velma jest nową konstrukcją, powstającą w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. W niniejszym artykule uwaga skupiona jest na projekcie i konstrukcji jego głowy. Proces powstawania głowy omówiono kompleksowo, zaczynając od analizy istniejących konstrukcji oraz specyfikacji wymagań. Z nich wynika zastosowana konstrukcja mechaniczna oraz wykorzystywany układ sensoryczny, których sterowanie opisane zostało dodatkowo w sposób formalny. Działanie zbudowanego urządzenia zostało już częściowo zweryfikowane aplikacyjnie.
M. Stefańczyk and M. Walęcki
Localization of essential door features for mobile manipulation
in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 487–496
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2014localization-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {Localization of essential door features for mobile manipulation},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {487--496},
  publisher = {Springer},
  doi = {10.1007/978-3-319-05353-0_46},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-door-rec-aut.pdf},
  projects = {GrantMeDeRo},
  twiki = {inbook}
}
```
In this paper, we present a control system of a robot actively detecting and labeling door features, such as handle, lock or door plate. System is described using agent-based approach, with clear division into control, effector and receptor subsystems, with most important parts deeply explained. Presented approach supplements gap between door detection and opening algorithms, giving a robot the ability to take more actions, like recognizing room number or opening door lock.
M. Stefańczyk and T. Kornuta
Akwizycja obrazów RGB-D: metody
Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 1, pp. 82–90, 2014
[ BIB | DOI | abstract | URL ]
```
@article{Stefanczyk:2014_par_rgbd_metody,
  author = {Stefańczyk, Maciej and Kornuta, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Akwizycja obrazów RGB-D: metody}},
  year = {2014},
  note = {Acquisition of RGB-D images: methods (in Polish)},
  number = {1},
  pages = {82--90},
  volume = {18},
  doi = {10.14313/PAR_203/82},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/13-rgbd-metody.pdf}
}
```
Dwuczęściowy artykuł poświęcono czujnikom umożliwiającym akwizycję chmur punktów oraz map głębi. W poniższej, pierwszej części uwagę skupiono na trzech głównych metodach pomiarowych: stereowizji, świetle strukturalnym oraz pomiarze czasu lotu wiązki jako tych, które sa najpowszechniej stosowane w robotyce. Poza zasadą działania każdej z metod przeanalizowano także ich właściwości, złożoność obliczeniową oraz potencjalne zastosowania.
M. Stefańczyk and T. Kornuta
Handling of asynchronous data flow in robot perception subsystems
in Simulation, Modeling, and Programming for Autonomous Robots, 2014, vol. 8810, pp. 509–520
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Stefanczyk:2014_discode_simpar,
  author = {Stefańczyk, Maciej and Kornuta, Tomasz},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots},
  title = {Handling of asynchronous data flow in robot perception subsystems},
  year = {2014},
  volume = {8810},
  series = {Lecture Notes in Computer Science},
  pages = {509-520},
  publisher = {Springer},
  doi = {10.1007/978-3-319-11900-7_43},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/discode.pdf},
  projects = {GrantMeDeRo},
  isbn = {978-3-319-11899-4},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2014.07.17},
  twiki = {inbook}
}
```
Robot perception subsystems typically form complex networks, with boxes representing computations and arrows presenting the exchanged data. Taking into account that data acquired from robot sensors may arrive with different frequencies, as well as that computations may by performed on different processor cores, a problem of handling of asynchronous data flows appears. Hence appropriate tools facilitating the implementation are highly demanded. In this article we propose a solution to the aforementioned problem, enabling the activation of a conditional behaviour of a given computational block, depending on the presence of data in its input buffers. Theoretical considerations led to the implementation of these mechanisms in a component-oriented framework for development of robot perception subsystems: DisCODe. Operation of the solution was verified on an exemplary perception subsystem using RGB-D camera.

T. Kornuta and M. Stefańczyk

Akwizycja obrazów RGB-D: czujniki

Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 2, pp. 92–99, 2014

[ BIB | DOI | abstract | URL ]

@article{Kornuta:2014_par_rgbd_czujniki-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Akwizycja obrazów RGB-D: czujniki}},
  year = {2014},
  note = {Acquisition of RGB-D images: sensors (in Polish)},
  number = {2},
  pages = {92-99},
  volume = {18},
  doi = {10.14313/PAR_204/92},
  projects = {Dziekanski2013Kornuta},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2014/2-2014/Akwizycja-obrazow-RGB-D-czujniki}
}

T. Kornuta, M. Stefańczyk, and W. Kasprzak
Basic 3D solid recognition in RGB-D images
in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 421–430
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Kornuta:2014_automation_solid_recognition-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Basic 3D solid recognition in RGB-D images}},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {421-430},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {267},
  doi = {10.1007/978-3-319-05353-0_40},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_object-recognition.pdf}
}
```
The paper deals with the problem of recognition of 3D objects for the purpose of their subsequent grasping and manipulation by a two-handed robot. We describe the idea of a general framework for object recognition rooted in the compositional model of the world. This approach threats complex objects as entities constructed of simpler, elementary ones, termed solids. In particular, we focus on recognition of two types of such solids: cuboids and generalized cones. We present details of their operation, starting from the low-level processing of RGB-D images and ending with the generation of hypotheses regarding the presence and parameters of those types of solids.

T. Kornuta, M. Stefańczyk, M. Laszkowski, M. Figat, J. Figat, and C. Zieliński

Obsługa asynchronicznego przepływu danych w komponentowych podsystemach percepcji robotów

Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 5, pp. 127–133, 2014

[ BIB | DOI | abstract | URL ]

@article{Kornuta:2014_automation_discode,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Laszkowski, Michał and Figat, Maksym and Figat, Jan and Zieliński, Cezary},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Obsługa asynchronicznego przepływu danych w~komponentowych podsystemach percepcji robotów}},
  year = {2014},
  note = {Asynchronous data flow handling in component-based robot perception subsystems - Zielinski},
  number = {5},
  pages = {127-133},
  volume = {18},
  doi = {10.14313/PAR_207/127},
  projects = {Dziekanski2013Kornuta},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2014/5-2014/Obsluga-asynchronicznego-przeplywu-danych-w-komponentowych-podsystemach-percepcji-robotow}
}

2013

T. Winiarski, K. Banachowicz, and M. Stefańczyk
Safe strategy of door opening with impedance controlled manipulator
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 21–26, 2013
[ BIB | DOI | abstract | URL ]
```
@article{winiarski-doorstiffjamris13-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  title = {Safe strategy of door opening with impedance controlled manipulator},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2013},
  volume = {7},
  number = {4},
  pages = {21--26},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/kuka-jamris13.pdf},
  doi = {10.14313/JAMRIS_4-2013/21},
  projects = {GrantRobREx},
  twiki = {journal},
  zadanie = {pw11}
}
```
Velma service robot is being developed by Robot Control and Pattern Recognition Group, Warsaw University of Technology. This paper focuses on design, construction and control of its head and torso. The whole process of the head and torso development is described in details, beginning with short survey of existing solutions and requirements. Based on those, mechanical construction is designed and sensory system is selected. The control system of the new components of the robot is formally described. The system was verified during a number of experiments.
M. Walęcki, M. Stefańczyk, and T. Kornuta
Control system of the active head of a service robot exemplified on visual servoing
in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 48–53
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Walecki:2013_RoMoCo-twiki,
  author = {Walęcki, Michał and Stefańczyk, Maciej and Kornuta, Tomasz},
  booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
  title = {Control system of the active head of a~service robot exemplified on visual servoing},
  year = {2013},
  pages = {48--53},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614583},
  projects = {GrantRobREx},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {article},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/active-head-romoco2013.pdf},
  zadanie = {pw11}
}
```
The article presents approach to active head control system’s development. It describes the system structure including motor drivers with low level position control, as well as high level control mechanisms running on a computer. The formal specification of this system is based on the agent approach. Finally, an exemplary implementation of the active head control system for visual servoing application is presented. Experiments conducted on the system confirm the adequacy of the approach.
P. Trojanek, M. Stefańczyk, and T. Kornuta
Modelling of data flow in component-based robot perception systems
Pomiary Automatyka Robotyka, vol. 17, no. 2, pp. 260–265, 2013
[ BIB | abstract | URL ]
```
@article{Trojanek:2013_modelling,
  author = {Trojanek, Piotr and Stefańczyk, Maciej and Kornuta, Tomasz},
  title = {Modelling of data flow in component-based robot perception systems},
  journal = {Pomiary Automatyka Robotyka},
  year = {2013},
  volume = {17},
  number = {2},
  pages = {260--265},
  projects = {Dziekanski2012Kornuta},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2013.05.28},
  twiki = {journal},
  url = {http://www.par.pl/en/Yearbooks/2013/2-2013/Modelling-of-data-flow-in-component-based-robot-perception-systems}
}
```
The paper presents results of research on the development of robot perception systems. On the basis of the selected exemplary system, typical problems occurring during design of such systems were indicated. Those problems motivated the work set out to formalize the data flow by the use of metamodelling - the key technology of model-driven engineering. The obtained metamodel facilitates development of such systems and enables further creation of tools for models’ editing, validation and automatic generation of relevant source code skeletons. Additionally, requirements for a robot perception systems runtime environment were identified and compared with existing component-based robot software frameworks.
M. Stefańczyk, K. Bojar, and W. Kasprzak
Utilization of Depth and Color Information in Mobile Robotics
in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 845–854
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2013utilization-twiki,
  author = {Stefańczyk, Maciej and Bojar, Konrad and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013},
  title = {Utilization of Depth and Color Information in Mobile Robotics},
  year = {2013},
  volume = {226},
  series = {Advances in Intelligent Systems and Computing},
  pages = {845--854},
  publisher = {Springer},
  projects = {GrantRobREx},
  twiki = {inbook},
  doi = {10.1007/978-3-319-00969-8_83},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/cores13mobile.pdf}
}
```
Computer vision plays an increasing role in robotics, as the computing power of modern computers grows year by year allowing more advanced algorithms to be implemented. Along with visual information, depth is also widely used in navigation of mobile robots, for example for obstacle detection. As cheap depth sensors become popular nowadays, there is a possibility to use data from both sources to further enhance the processes of navigation and object detection. This article presents some possibilities of utilizing in mobile robotics the integrated video and depth images - by performing image segmentation for environment description, optical flow estimation for obstacle avoidance and object detection for semantic map creation. All of the presented examples are based on real, working applications, which additionally proves validity of proposed methods.
M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
3D camera and lidar utilization for mobile robot navigation
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 27–33, 2013
[ BIB | DOI | abstract ]
```
@article{stefanczyk20133dcamera-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  title = {{3D camera and lidar utilization for mobile robot navigation}},
  year = {2013},
  number = {4},
  pages = {27--33},
  volume = {7},
  doi = {10.14313/JAMRIS_4-2013/28},
  projects = {GrantRobREx},
  twiki = {journal}
}
```
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.

D. Seredyński, T. Winiarski, K. Banachowicz, M. Walęcki, M. Stefańczyk, and P. Majcher

Robot mobilny o zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna

Pomiary Automatyka Robotyka, vol. 17, no. 1, pp. 162–167, 2013

[ BIB | abstract | URL ]

@article{rys-mechanika-13-eng-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Walęcki, Michał and Stefańczyk, Maciej and Majcher, Piotr},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion – mechanical and electronic design (in~Polish)},
  number = {1},
  pages = {162--167},
  volume = {17},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_mechanika-13.pdf}
}

W. Kasprzak, M. Stefańczyk, and J. Popiołkiewicz
The Print-Scan Problem in Printed Steganography of Face Images
in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 491–500
[ BIB | DOI | abstract ]
```
@inproceedings{kasprzak2013print-twiki,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej and Popiołkiewicz, Jan},
  booktitle = {Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013},
  title = {The Print-Scan Problem in Printed Steganography of Face Images},
  year = {2013},
  volume = {226},
  series = {Advances in Intelligent Systems and Computing},
  pages = {491--500},
  publisher = {Springer},
  twiki = {article},
  doi = {10.1007/978-3-319-00969-8_48}
}
```
The use of steganography and watermarking techniques for a secure identification and automatic authentication of the holder’s photo in an ICAO-consistent (travel) document is proposed. A specific distortion of the hidden watermarks is caused by the print-scan process, as a printed photo is scanned to constitute the reference pattern in face verification. The main distortions induced by this process are identified - image rotation and cropping, nonlinear intensity change and additive color quantization noise. Three steganography methods are selected and adapted for this application. They provide hidden watermark insertion in the image domain, the Fourier-Mellin transform domain or in a net of normalized triangle regions. Test results induce the conditions for the proper use of these methods.

2012

C. Zieliński, T. Kornuta, M. Stefańczyk, W. Szynkiewicz, P. Trojanek, and M. Walęcki
Języki programowania robotów przemysłowych
Pomiary Automatyka Robotyka, vol. 16, no. 11, pp. 10–19, 2012
[ BIB | abstract ]
```
@article{zielinski2012jezyki-twiki-en,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Stefańczyk, Maciej and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał},
  title = {Języki programowania robotów przemysłowych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {16},
  number = {11},
  pages = {10--19},
  lang = {en},
  twiki = {journal},
  note = {Programming languages of industrial robots - Zielinski}
}
```
Pierwsze roboty przemysłowe zaczęto wykorzystywać w fabrykach pięćdziesiąt lat temu. Naturalnym jest, że w tak długim okresie rozwój technologii elektronicznych i informatycznych musiał mieć duży wpływ na sposób sterowania tymi urządzeniami. Aktualny stan techniki w tej dziedzinie najlepiej zobrazować, analizując języki programowania robotów przemysłowych różnych producentów. Artykuł ten nie tylko prezentuje w skrócie języki obecnie stosowane przez dziesięciu producentów robotów, ale również pokazuje kontekst, w jakim były one tworzone.
T. Winiarski, K. Banachowicz, and M. Stefańczyk
Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 2, pp. 395–404
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:kukakkr12-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR}},
  year = {2012},
  note = {(Safe door opening strategy of KUKA-LWR robotic manipulator (In~Polish))},
  pages = {395--404},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {2},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kukakkr12.pdf}
}
```
Service robots need to open doors and drawers to autonomously operate in human environment. Modern robotics systems are able to localize the doors and its handles or knobs, grasp the handles and open the doors. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was extended by the previously mentioned factors to achieve safe behavior of direct (explicit) position-force controller of KUKA-LWR robot opening the door.
M. Walęcki, K. Banachowicz, M. Stefańczyk, R. Chojecki, M. Wiśniowski, and T. Winiarski
Uniwersalna struktura sprzętu badawczo–dydaktycznej platformy mobilnej
XII Krajowa Konferencja Robotyki – Postępy Robotyki, vol. 1, pp. 305–314, 2012
[ BIB | abstract | URL ]
```
@article{walecki2012elektron-sprzet-eng-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Chojecki, R. and Wiśniowski, M. and Winiarski, Tomasz},
  title = {{Uniwersalna struktura sprzętu badawczo--dydaktycznej platformy mobilnej}},
  year = {2012},
  note = {(Universal hardware structure for mobile platform (In~Polish))},
  pages = {305--314},
  volume = {1},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/walecki-elektron-sprzet-kkr12.pdf}
}
```
Two-part article describes an universal hardware structure of a mobile robot for research and teaching purposes and its application – navigation using 3D camera and laser scanner in Electron robot. The first part presents the overall approach to the development of a modular mobile robot control system. It discusses the requirements for the hardware driver, the method of analysis of these requirements, the structure of the controller, the construction of its modules and the method of communication between them. It also presents the implementation of the developed control system in existing mobile platforms.
T. Kornuta and M. Stefańczyk
DisCODe: komponentowa struktura ramowa do przetwarzania danychsensorycznych
Pomiary Automatyka Robotyka, vol. 16, no. 7-8, pp. 76–85, 2012
[ BIB | abstract | URL ]
```
@article{tkornuta:2012_discode-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Pomiary Automatyka Robotyka},
  title = {{DisCODe}: komponentowa struktura ramowa do przetwarzania danychsensorycznych},
  year = {2012},
  note = {(DisCODe: a~component oriented framework for procesing of sensory data (in Polish))},
  number = {7-8},
  pages = {76-85},
  volume = {16},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2012.03.26},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2012/7-8-2012/DisCODe-komponentowa-struktura-ramowa-do-przetwarzania-danych-sensorycznych}
}
```
Aby działać w nieuporządkowanym i dynamicznie zmieniającym się środowisku, roboty muszą być wyposażone w rozmaite sensory, a ich systemy sterowania muszą być w stanie przetworzyć odbierane dane sensoryczne możliwie najszybciej w celu odpowiedniego zareagowania na zachodzące wydarzenia. Celem pracy było opracowanie oprogramowania umożliwiającego tworzenie podsystemów sensorycznych, mogących stanowić ekwiwalent dowolnych zmysłów zwierząt. Przeprowadzone testy wykazały, ze wprowadzane narzuty komunikacyjne są minimalne, a rozwiązanie nadaje się do implementacji podsystemów sensorycznych działających w czasie rzeczywistym.
M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
Nawigacja robotem Elektron z wykorzystaniem kamery 3D i lidaru
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 1, pp. 265–274
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2012nawigacja-eng-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Nawigacja robotem Elektron z~wykorzystaniem kamery 3D i~lidaru}},
  year = {2012},
  note = {(3D camera and lidar utilization for mobile robot navigation (In~Polish))},
  pages = {265--274},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {1},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/stefanczyk2012nawigacja.pdf}
}
```
Article consists of two parts. The first part considers research oriented mobile base hardware. The following, second part presents navigation system basing on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. In the beginning existing methods of 3D scene acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described as well as exemplary applications that verify the approach.

M. Stefańczyk and W. Kasprzak

Multimodal segmentation of dense depth maps and associated color information

in Proceedings of the International Conference on Computer Vision and Graphics, 2012, vol. 7594, pp. 626–632

[ BIB | DOI | abstract | URL ]

@inproceedings{stefanczyk2012multimodal-twiki,
  author = {Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics},
  title = {Multimodal segmentation of dense depth maps and associated color information},
  year = {2012},
  volume = {7594},
  series = {Lecture Notes in Computer Science},
  pages = {626--632},
  publisher = {Springer Berlin / Heidelberg},
  doi = {10.1007/978-3-642-33564-8_75},
  url = {https://robotyka.ia.pw.edu.pl/rpmpg_pubs/2012/iccvg_12_multimodal.pdf},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  twiki = {article}
}

T. Kornuta, M. Stefańczyk, and C. Zieliński
Projektowanie układów sterowania robotów. Część II: Aktywna wizja
in Proceedings of the 12th National Conference on Robotics – Advances in Robotics, 2012, vol. 2, no. 182, pp. 607–616
[ BIB | abstract | URL ]
```
@inproceedings{kornuta12projektowanie-eng-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Zieliński, Cezary},
  booktitle = {Proceedings of the 12th National Conference on Robotics -- Advances in Robotics},
  title = {{Projektowanie układów sterowania robotów. Część II: Aktywna wizja}},
  year = {2012},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Design of Robot Control Systems. Part II: Active Vision - Zielinski},
  number = {182},
  pages = {607--616},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {2},
  conference = {kkr12},
  projects = {NCN2012Kornuta},
  lang = {en},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kornuta12kkr2}
}
```
Dwuczęściowy artykuł poświęcono metodyce projektowania układów sterowania robotów. W pierwszej części przedstawiono krótki przegląd architektur systemów robotycznych oraz przedstawiono metodykę projektowania systemów wielorobotowych wykorzystującą pojęcia: agenta upostaciowionego oraz funkcji przejścia. W poniższej drugiej części metodyka ta została wykorzystana do specyfikacji systemu robotycznego potrafiącego rozróżnić obiekty płaskie od przestrzennych. Wyniki przeprowadzonych eksperymentów potwierdzają poprawność specyfikacji, jak i stworzonej na jej bazie implementacji.
W. Kasprzak and M. Stefańczyk
3D semantic map computation based on depth map and video image
in Proceedings of the International Conference on Computer Vision and Graphics, 2012, vol. 7594, pp. 441–448
[ BIB | DOI | abstract | URL ]
```
@inproceedings{kasprzak2012semantic-twiki,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics},
  title = {{3D semantic map computation based on depth map and video image}},
  year = {2012},
  editor = {Bolc, L. and Tadeusiewicz, R. and Chmielewski, L. and Wojciechowski, K.},
  pages = {441--448},
  publisher = {Springer Berlin / Heidelberg},
  series = {Lecture Notes in Computer Science},
  volume = {7594},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-642-33564-8_53},
  twiki = {article},
  url = {https://robotyka.ia.pw.edu.pl/rpmpg_pubs/2012/iccvg_12_semantic.pdf}
}
```
A model-based object recognition in video and depth images is proposed for the purpose of semantic map creation in mobile robotics. Three types of objects are modeled: a human silhouette, a chair/table and corridor walls. A bi-driven hypothesis generation and verification strategy is outlined. The object model includes a hierarchic semantic nets, combined with a graph of constraints and a Bayesian network for hypothesis generation and evaluation. For the purpose of model-to-image matching we define an incomplete constraint satisfaction problem and solve it. Our CSP-search allows partial assignment solutions and uses a stochastic inference to provide judgments of such solutions. The verification of hypotheses is due to a top-down occlusion propagation process, that explains why some object parts are hidden or occluded.

2011

M. Stefańczyk

Wykorzystanie informacji z kamery 3D do nawigacji robota mobilnego

Master's thesis, II, 2011

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{mstefanczyk-msc-11-twiki,
  author = {Stefańczyk, Maciej},
  school = {WEiTI},
  title = {{Wykorzystanie informacji z~kamery 3D do nawigacji robota mobilnego}},
  year = {2011},
  lang = {pl},
  organization = {II},
  owner = {yoyek},
  publisher = {II},
  timestamp = {2012.04.12},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/mstefanczyk-msc-11-twiki.pdf}
}

2010

M. Stefańczyk

Struktura ramowa do przetwarzania danych sensorycznych

Bachelor’s thesis, II, 2010

Tutor: Tomasz Kornuta
[ BIB | URL ]

@mastersthesis{mstefanczyk-bsc-10-twiki,
  author = {Stefańczyk, Maciej},
  school = {WEiTI},
  title = {{Struktura ramowa do przetwarzania danych sensorycznych}},
  year = {2010},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {II},
  publisher = {II},
  tutor = {Tomasz Kornuta},
  twiki = {bsc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/mstefanczyk-bsc-10-twiki.pdf}
}