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Department of Robotic Systems

 Dr.-Ing. habil. Giorgio Panin

Institute of Robotics and Mechatronics
German Aerospace Center (DLR)
P.O. Box 1116, D-82230 Wessling, Germany

Phone
Fax
E-Mail
URL
Room

+49 8153 28 3140
+49 8153 28 1134
Giorgio.Panin(at)dlr.de
www.robotic.dlr.de/Giorgio.Panin/
Building 132, Room 110

Biographical notes

  • Habilitation degree from TUM-Informatik, February 2011
  • Research assistant at DLR, since December 2010
  • Assistant professor at TUM-Informatik, Lehrstuhl VI: 2005-2010
  • Post-doc at TUM-Informatik, Lehrstuhl VI: EU Project Artesimit (2002-2004)
  • PhD in robotics, University of Genoa, 1999-2002
  • Master in electrical engineering (summa cum laude), University of Genoa, chair for Robotics and Embedded Systems, Dec. 1998
  • Master in piano, national music Conservatory of Genoa, June 1997

Research activity

Main topics

  • Visual tracking and navigation
  • Robotics
  • Human-robot interaction

Current projects at DLR

  • DEOS - Deutsche Orbitale Servicing Mission: 3D reconstruction and pose estimation of the target satellite by means of stereo cameras, for subsequent estimation of dynamics and approach of the robot arm.
  • VIBANASS - Vision based Navigation Sensor System: model-based stereo tracking to localize a satellite nozzle in 3D, for orbital life extension operations
  • ATON - Autonomous Terrain based Optical Navigation
  • SNS - Car driver assistance with Head-Up Display: 3D face tracking using dense stereo matching (example video about car navigation)

Former projects at TUM-Informatik VI

  • OpenTL: A novel, general-purpose software library for real-time object tracking
  • IGSSE Project Image-aided flight control: vision-assisted indoor flight of quadrocopter devices
  • DFG-CoTeSys Project ITrackU: Image-based tracking and understanding for the CoTeSys demonstration scenarios
  • IST-EU Project Artesimit. Imitation learning with mirror neuron-like systems for the human grasp observation and actuation

Didactics

My last Wintersemester Lectures held at TUM-Informatik VI on model-based visual tracking (WS09/10), as well as previous activities, are available at my former homepage.

Publications

Book (Habilitationsschrift)

Publications during post-doc (TUM-Informatik VI, 2002-2010)

  • Claus Lenz, Thorsten Röder, Martin Eggers, Sikandar Amin, Thomas Kisler, Bernd Radig, Giorgio Panin, and Alois Knoll. A distributed many-camera system for multi-person tracking. In Proceedings of the 1st International Joint Conference on Ambient Intelligence, Malaga, Spain, November 2010. (.pdf )
  • Sebastian Klose, Jian Wang, Michael Achtelik, Giorgio Panin, Florian Holzapfel, and Alois Knoll. Markerless, Vision-Assisted Flight Control of a Quadrocopter. In Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems. IEEE, October 2010.
  • Suraj Nair, Thorsten Röder, Giorgio Panin, and Alois Knoll. Visual servoing of presenters in augmented virtual reality tv studios. In Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems. IEEE, October 2010.
  • D. Bršcić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, and E. Steinbach. Multi Joint Action in CoTeSys - setup and challenges. Technical Report CoTeSys-TR-10-01, CoTeSys Cluster of Excelence: Technische Universität München & Ludwig-Maximilians-Universität München, Munich, Germany, June 2010.
  • Christoph Staub, Claus Lenz, Giorigio Panin, Alois Knoll, and Robert Bauernschmitt. Contour-based surgical instrument tracking supported by kinematic prediction. In proceedings of the IEEE/RAS International Conference on Biomedical Robotics and Biomechatronics, pages 746-752, Tokyo, Japan, sep. 2010.
  • Martin Wojtczyk, Giorgio Panin, Thorsten Röder, Claus Lenz, Suraj Nair, Rüdiger Heidemann, Chetan Goudar, and Alois Knoll. Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking. In IS&T / SPIE Electronic Imaging, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques: Autonomous Robotic Systems and Applications, San Jose, CA, USA, January 2010.
  • Giorgio Panin, Sebastian Klose, and Alois Knoll. Real-time articulated hand detection and pose estimation. In International Symposium on Visual Computing (ISVC), Las Vegas, Nevada, USA, December 2009. (.pdf )
  • Giorgio Panin, Sebastian Klose, and Alois Knoll. Multi-target and multi-camera object detection with monte-carlo sampling. In International Symposium on Visual Computing (ISVC), Las Vegas, Nevada, USA, December 2009. (.pdf )
  • Claus Lenz, Markus Rickert, Giorgio Panin, and Alois Knoll. Constraint task-based control in industrial settings. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3058-3063, St. Louis, MO, USA, October 2009. (.pdf )
  • Claus Lenz, Giorgio Panin, Thorsten Röder, Martin Wojtczyk, and Alois Knoll. Hardware-assisted multiple object tracking for human-robot-interaction. In Franįois Michaud, Matthias Scheutz, Pamela Hinds, and Brian Scassellati, editors, HRI '09: Proceedings of the 4th ACM/IEEE international conference on Human robot interaction, pages 283-284, La Jolla, CA, USA, March 2009. ACM. (http )
  • Suraj Nair, Giorgio Panin, Thorsten Röder, Thomas Friedelhuber, and Alois Knoll. A distributed and scalable person tracking system for robotic visual servoing with 8 dof in virtual reality tv studio automation. In Proceedings of the 6th International Symposium on Mechatronics and its Applications (ISMA09). IEEE, March 2009. (.pdf )
  • Martin Wojtczyk, Giorgio Panin, Claus Lenz, Thorsten Röder, Suraj Nair, Erwin Roth, Rüdiger Heidemann, Klaus Joeris, Chun Zhang, Mark Burnett, Tom Monica, and Alois Knoll. A vision based human robot interface for robotic walkthroughs in a biotech laboratory. In Franįois Michaud, Matthias Scheutz, Pamela Hinds, and Brian Scassellati, editors, HRI '09: Proceedings of the 4th ACM/IEEE international conference on Human Robot Interaction, pages 309-310, La Jolla, CA, USA, March 2009. ACM.
  • Claus Lenz, Giorgio Panin, and Alois Knoll. A GPU-accelerated particle filter with pixel-level likelihood. In International Workshop on Vision, Modeling and Visualization (VMV), Konstanz, Germany, October 2008. (.pdf )
  • Giorgio Panin, Erwin Roth, and Alois Knoll. Robust contour-based object tracking integrating color and edge likelihoods. In International Workshop on Vision, Modeling and Visualization (VMV), Konstanz, Germany, October 2008. (.pdf )
  • Giorgio Panin, Thorsten Röder, and Alois Knoll. Integrating robust likelihoods with monte-carlo filters for multi-target tracking. In International Workshop on Vision, Modeling and Visualization (VMV), Konstanz, Germany, October 2008. (.pdf )
  • Giorgio Panin, Erwin Roth, Thorsten Röder, Suraj Nair, Claus Lenz, Martin Wojtczyk, Thomas Friedlhuber, and Alois Knoll. ITrackU: An integrated framework for image-based tracking and understanding. In Proceedings of the International Workshop on Cognition for Technical Systems, Munich, Germany, October 2008.
  • Erwin Roth, Giorgio Panin, and Alois Knoll. Sampling feature points for contour tracking with graphics hardware. In International Workshop on Vision, Modeling and Visualization (VMV), Konstanz, Germany, October 2008.
  • Suraj Nair, Giorgio Panin, Martin Wojtczyk, Claus Lenz, Thomas Friedelhuber, and Alois Knoll. A multi-camera person tracking system for robotic applications in virtual reality tv studio. In Proceedings of the 17th IEEE/RSJ International Conference on Intelligent Robots and Systems 2008. IEEE, September 2008.
  • Giorgio Panin and Alois Knoll. Mutual information-based 3d object tracking. International Journal of Computer Vision, 78(1):107-118, January 2008. (http )
  • Giorgio Panin, Claus Lenz, Suraj Nair, Erwin Roth, Martin Wojtczyk, Thomas Friedlhuber, and Alois Knoll. A unifying software architecture for model-based visual tracking. In IS&T/SPIE 20th Annual Symposium of Electronic Imaging, San Jose, CA, January 2008.
  • Giorgio Panin and Alois Knoll. Real-time 3d face tracking with mutual information and active contours. In International Symposium on Visual Computing (ISVC), Lake Tahoe, Nevada, USA, December 2007. (.pdf )
  • Markus Rickert, Mary Ellen Foster, Manuel Giuliani, Tomas By, Giorgio Panin, and Alois Knoll. Integrating language, vision and action for human robot dialog systems. In Proceedings of the International Conference on Universal Access in Human-Computer Interaction, HCI International, volume 4555 of Lecture Notes in Computer Science, pages 987-995, Beijing, China, July 2007. Springer. (http )
  • Wolfram Erlhagen, Albert Mukovskiy, Estela Bicho, Giorgio Panin, Csaba Kiss, Alois Knoll, Hein van Schie, and Harold Bekkering. Goal-directed imitation in robots: a bio-inspired approach to action understanding and skill learning. Robotics and Autonomous Systems, 54(5):353-360, May 2006. (.pdf )
  • Giorgio Panin and Alois Knoll. Fully automatic real-time 3D object tracking using active contour and appearance models. Journal of Multimedia 2006, 1(7):62-70, 2006. (.pdf )
  • Giorgio Panin, Alexandor Ladikos, and Alois Knoll. An efficient and robust real-time contour tracking system. In Proc. IEEE International Conference on Visual Systems (ICVS), page 44, January 2006. (http )
  • Wolfram Erlhagen, Albert Mukovskiy, Estela Bicho, Giorgio Panin, Csaba Kiss, Alois Knoll, Hein T. van Schie, and Harold Bekkering. Action understanding and imitation learning in a robot-human task. In Proc. IEEE International Conference on Neural Networks (ICANN), pages 261-268, 2005. (http )

PhD dissertation

  • Thesis (.pdf): Dexterous Object Manipulation via Integrated Hand-Arm Systems, University of Genoa, February 2002
  • Videos (DivX format): Object manipulation, simulation of the hand-arm coordinated system, simulation of force and position control in Cartesian space.

Publications during PhD (University of Genoa-DIST, 1998-2001)

  • Giuseppe Casalino, Giorgio Panin, Fabio Giorgi, Andrea Caffaz Dexterous Objects Manipulation via Integrated Hand-Arm Systems, IEEE Int. Conf. on Humanoid Robots 2001, Tokyo (Japan), November 2001
  • Giuseppe Casalino, Giorgio Cannata, Giorgio Panin, Andrea Caffaz On a Two-Level Hierarchical Structure for the Dynamic Control of Multifingered Manipulation, IEEE Int. Conf. on Robotics and Automation, Seoul (Korea), May 2001
  • Andrea Caffaz, Giuseppe Casalino, Giorgio Cannata, Giorgio Panin, Emanuele Massucco The DIST-Hand, an Anthropomorphic, Fully Sensorized Dexterous Gripper, IEEE Int. Conf. on Humanoid Robots 2000, Boston, M.I.T. (USA), September 2000
  • Andrea Caffaz, Giorgio Panin Control Stratregies for Tendon Driven Devices, Int. Conf. on Mechatronics Technology, Pusan(Korea), Oct 1999.
  • Andrea Caffaz, Giorgio Cannata, Giorgio Panin, Simone Reto Towards Fully Sensorized and Controlled Robotic Hand, ECPD, Moscow, Aug 1998. 


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