Contact Dr. Dipl.-Inf. Univ. Stefan Hinterstoißer email phone +49 (89) 289-19400 fax +49 (89) 289-17059 room 03.13.057 address Institut für Informatik I-16 Technische Universität München Boltzmannstr. 3 85748 Garching b. München Germany skype Research My Ph.D. Advisors were Prof. Nassir Navab, Dr. Vincent Lepetit, Dr. Slobodan Ilic and Dr. Selim Benhimane. I defended my thesis on 14.03.2012. My committee was Prof. Bernt Schiele, Prof. Kurt Konolige, Prof. Michael Beetz and Prof. Nassir Navab. Fields of Interest 2D / 3D Object Detection RGBD Devices Pose Estimatin 3D Model Creation (In-hand, Markerboard dependent) Real-Time Miscellaneous Reviewer for: PAMI, CVPR, ECCV, ICPR, ISMAR, ICCV, BMVC, T-RO, VCG Supported by the BMBF project AVILUSplus (01IM08002) until 28.02.2011. Supported by WillowGarage? from 01.03.2011 until 30.09.2012 Teaching Assistance Sommer Term 2008 3D Computer Vision for Special Effects Sommer Term 2009 Computer Vision I Winter Term 2009/2010 Tracking and Detection in Computer Vision Sommer Term 2010 Computer Vision I Winter Term 2010/2011 Tracking and Detection in Computer Vision Sommer Term 2011 Computer Vision I Lab Course / Praktikum: Kinect Programming for Computer Vision Winter Term 2011/2012 Computer Vision II Sommer Term 2012 Computer Vision I Student Projects Available There are currently no projects available. Finished Martin Saelzle: In-hand Scanning of Texture-less 3D Objects (Master Thesis) Stefan Holzer: Distance Transform Templates for Object Detection and Pose Estimation (Master Thesis) Nicolas Alt: Optimal Template Selection for Visual Tracking (Master Thesis) Ya Chen: Evaluation of Real-Time Object Detection and Tracking Method for Defining an Optimal Performance Algorithm (Master Thesis)

News THIS WEBSITE IS NOT UPDATED ANY MORE! PLEASE VISIT: http://www.stefan-hinterstoisser.com [04.10.2012] Our partners from TOYOTA are using Linemod for their robots. Check out this video! [30.09.2012] Our ACCV dataset is out! [21.09.2012] Our ACCV paper is accepted! We will demonstrate it at ECCV in Firence! [05.06.2012] We got our ECCV Demo accepted! See you there! [03.04.2012] LINE-MOD code is finally available. Just check out the latest opencv version via svn! [21.09.2011] We got our TPAMI paper accepted! [27.06.2011] We got our ICCV paper about our new method LINEMOD accepted as Oral Presentation. It is about combining 2D color gradients with 3D surface normals (from the Kinect depth map) for robust detection of texture-less Objects under heavily cluttered background. As usual we will release source code (however that might still take some time - stay tuned!!!). This approach is much better than DOT (much more robust, much less false positives, runtime independent of template size etc.)! See the paper and the videos! [16.02.2011] Wonwoo ported our DOT software to Mac OS. Please refer to his blog for further information. [06.12.2010] Steve made our DOT software running under Linux. Please refer to his blog for further information. [19.08.2010] Our paper on "Learning Real-Time Perspective Patch Rectification" has been accepted for publication in International Journal of Computer Vision (IJCV). Software Apart from it - we changed the licensing for the current software packages from GPL to LGPL! We have not updated the source files correspondingly but will do it somewhen! --> All software (LGPL licensed) can be found HERE. Database The extensive ACCV database is public (over 18000 real images with 15 different objects and ground truth pose)! The ACCV databases are licensed under a Creative Commons Attribution 4.0 International License. Here you can find the databases for the ape, benchvise, bowl, can, cat, cup, driller, duck, glue, holepuncher, iron, lamp, phone, cam and eggbox. Each dataset contains the 3D model saved as a point cloud (format: #_of_voxels size_of_voxel_in_cm x1_in_cm y1_in_cm z1_in_cm normal_x1 normal_y1 normal_z1 color_x1_normalized_to_1 color_y1_normalized_to_1 color_z1_normalized_to_1 ...) and a file that contains called distance.txt with the maximum diameter of the object (in cm). For some datasets we also provide a nice mesh model in the ply format (in mm - with better normals). The original mesh is contained in OLDmesh.ply. For most datasets we registered this OLDmesh.ply to the point cloud with the transformation stored in transform.dat (first number is not important, then each first number of a line is obsolete - for the rest: the transformation matrix [R|T] is stored rowwise (in m)). The registered mesh is stored in mesh.ply. In the folder data you can find the color images, the aligned depth images and the ground truth rotation and translation (in cm). In order to read the depth images you can use this function. The internal camera matrix parameters for the kinect are: fx=572.41140, px=325.26110, fy=573.57043; py=242.04899; Color image and depth image are already aligned by the internal alignement procedure of Kinect. Publications Journal Articles 2012 S. Hinterstoisser, C. Cagniart, S. Ilic, P. Sturm, N. Navab, P. Fua, V. Lepetit Gradient Response Maps for Real-Time Detection of Texture-Less Objects IEEE Transactions on Pattern Analysis and Maschine Intelligence (TPAMI). (bib) 2011 S. Hinterstoisser, V. Lepetit, S. Benhimane, P. Fua, N. Navab Learning Real-Time Perspective Patch Rectification International Journal of Computer Vision (IJCV), Springer Verlag, The final publication is available at www.springerlink.com (bib) International Conferences 2012 S. Hinterstoisser, V. Lepetit, S. Ilic, S. Holzer, G. Bradski, K. Konolige, N. Navab Model Based Training, Detection and Pose Estimation of Texture-Less 3D Objects in Heavily Cluttered Scenes Asian Conference on Computer Vision (ACCV), Korea, Daejeon, November 2012 (bib) 2011 S. Hinterstoisser, S. Holzer, C. Cagniart, S. Ilic, K. Konolige, N. Navab, V. Lepetit Multimodal Templates for Real-Time Detection of Texture-less Objects in Heavily Cluttered Scenes (Oral) IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib) 2010 N. Alt, S. Hinterstoisser, N. Navab Rapid Selection of Reliable Templates for Visual Tracking IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) S. Hinterstoisser, V. Lepetit, S. Ilic, P. Fua, N. Navab Dominant Orientation Templates for Real-Time Detection of Texture-Less Objects IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) 2009 S. Hinterstoisser, O. Kutter, N. Navab, P. Fua, V. Lepetit Real-Time Learning of Accurate Patch Rectification (Oral Presentation) IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Miami, Florida (USA), June 2009. (bib) S. Holzer, S. Hinterstoisser, S. Ilic, N. Navab Distance Transform Templates for Object Detection and Pose Estimation IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Miami, Florida (USA), June 2009. (bib) 2008 S. Hinterstoisser, S. Benhimane, V. Lepetit, P. Fua, N. Navab Simultaneous Recognition and Homography Extraction of Local Patches with a Simple Linear Classifier British Machine Vision Conference (BMVC), Leeds (UK), September 1-4, 2008 (bib) S. Hinterstoisser, S. Benhimane, N. Navab, P. Fua, V. Lepetit Online Learning of Patch Perspective Rectification for Efficient Object Detection IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Anchorage, Alaska (USA), June 2008. (bib) 2007 P. Georgel, P. Schroeder, S. Benhimane, S. Hinterstoisser, M. Appel, N. Navab An Industrial Augmented Reality Solution For Discrepancy Check Proceedings of the 6th International Symposium on Mixed and Augmented Reality (ISMAR), Nara, Japan, Nov. 2007 (bib) S. Hinterstoisser, S. Benhimane, N. Navab N3M: Natural 3D Markers for Real-Time Object Detection and Pose Estimation IEEE International Conference on Computer Vision, Rio de Janeiro, Brazil, October 14-20, 2007 (bib) Awards Werner von Siemens Excellence Award 2008 for the diploma thesis "Local Coordinate Systems for robust outlier detection and stable pose estimation" Pose Estimation / Matching Model-based Detection and Pose Estimation (ACCV12 - realistic 3D Models are augmented on the image) LINE-MOD (ICCV11) Dominant Orientation Templates (CVPR10) Distance Transform Templates (CVPR09) Gepard (CVPR09) Panter (BMVC08) Leopar (CVPR08) N3Ms (ICCV07)

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