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Institut für Robotik und Mechatronik: Dr.-Ing. habil. Giorgio Panin

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Dr.-Ing. habil. Giorgio Panin

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Perzeption und Kognition
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-3140
E-Mail: Dr.-Ing. habil. Giorgio Panin

Profile
 

I am a senior graduate researcher in computer science.

After finishing my PhD in robotics, I have been doing research and teaching in computer vision, particularly focusing on model-based localization, pose estimation and real-time tracking, for diverse applications.

Research activities
 

I have taken part to diverse national and international research programmes in quality of developer, expert and in some cases coordinator. In particular, I developed novel algorithms for object tracking, image registration, multi-camera people, face and hand tracking, as well as a complete software architecture for modular, rapid prototyping of visual tracking applications. I published several articles for international journals and conference proceedings, as well as a book for an international publishing house.

Fields of interest

  • Model-based 3D pose estimation (mono- and multi-camera)

  • Diverse visual tracking applications (objects, people, etc.)

  • Human-robot interaction

Activities at DLR

My research work is related to On-Orbit Satellite Servicing (OOS) studies, in cooperation with space agencies and industry partners, with the goal of maintainance or removal of uncooperative space objects, such as malfunctioning satellites or debris. One major goal is to use computer vision to assist docking/grasping maneuvers, between the servicer stellite and the target.

For this purpose, model-based 3D object localization with mono- or stereo-cameras, either mounted on a robotic arm or on the servicer body, allows fast and accurate trajectory corrections, that are especially important during the last part of the maneuver (close-range approach).

  • 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. Model-based visual servoing with stereo camera (eye-in-hand configuration) is also part of this mission.
     
  • VIBANASS - Vision based Navigation Sensor System: a study concerning model-based stereo camera tracking, localizing a satellite docking interface for orbital life extension
  • FORROST - Forschungsverbung Robotische On-Orbit Servicing Technologien: A study related to the DEOS mission, in cooperation with the University of Würzburg, investigating novel technologies and alternative OOS scenarios, e.g. different client types, sunlight positions, ground station communication issues.
  • OOS-End2End: A DLR project concerning the simulation of a full OOS mission, to be realized by means of separate facilities, respectively simulating the ground station, the space scenario, and the communication links between them (including realistic network delays and losses).
     
  • A preliminary study in the context of e.DeOrbit, that is a planned ESA mission for space debris removal (see also the Clean Space initiative).

I have also been supervising Internships and PhD works, and I organized internal seminars about topics related to visual tracking (a detailed description can be found on our internal Wiki page).

Former activities at TUM-Informatik VI

At TUM, I have been doing research and teaching on diverse subjects related to visual tracking, including Lectures on model-based visual tracking, as well as seminars, supervision of Master and PhD Theses. More information is available at my former homepage.

In particular, I have been involved in the following projects:

  • 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

Employment

  • Research assistant at DLR - Robotics and Mechatronics (dept. of Perception and Cognition), since December 2010
     
  • Assistant professor in Computer Vision at TUM-Informatik, 2005-2010
     
  • Research assistant at TUM-Informatik (coworker for EU Project), 2002-2004
     
  • PhD student at the University of Genoa, Faculty of Electrical and Electronic Engineering, 1999-2002

Academic degrees

  • Habilitation at TUM-Informatik, February 2011
     
  • Certificate of Proficiency at TUM in teaching-related subjects (Profi-Lehre Zertifikat), 2010
     
  • PhD in robotics, University of Genoa, February 2002
     
  • Master in electrical engineering (summa cum laude), University of Genoa, chair for Robotics and Embedded Systems, Dec. 1998

Publications
 

Book

International Journal Publications

  • Nassir W. Oumer, Giorgio Panin, Quirin Mülbauer, Anastasia Tseneklidou, Vision-based localization for on-orbit servicing of a partially cooperative satellite, Acta Astronautica, Volume 117, December 2015, Pages 19-37, ISSN 0094-5765 (link)
     
  • Lili Chen, Wei Wang, Giorgio Panin, Alois Knoll, Hierarchical Grid-based Multi-People Tracking-by-Detection with Global Optimization. IEEE Transactions on Image Processing 24(11): 4197-4212 (Dec. 2015) (link)
     
  • Giorgio Panin, Fast, Multi-modal and Discontinuity-preserving Image Registration using Mutual Information, International Journal on Artificial Intelligence Tools (IJAIT), World Scientific Editor, 2013 (link)
     
  • Giorgio Panin, Alois Knoll, Mutual information-based 3D object tracking, International Journal of Computer Vision (Elsevier), 78(1):107-118, January 2008 (link)
     
  • Giorgio Panin, Alois Knoll, Fully automatic real-time 3D object tracking using active contour and appearance models, Journal of Multimedia 2006, 1(7):62-70, 2006 (link)
     
  • 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 (link)

International Conference Proceedings

  • Nassir W. Oumer, Giorgio Panin, Camera-based Tracking for Rendezvous and Proximity Operation of a Satellite, Advances in Aerospace Guidance, Navigation and Control (selected Papers of the Third CEAS Conference), April 13-15, 2015, Toulouse, France, pages 625-638. (link, pdf)
     
  • S. Jaekel, R. Lampariello, G. Panin, M. Sagardia, B. Brunner, O. Porges, E. Kraemer,  M. Wieser, R. Haarmann, R. Biesbroek, Robotic Capture and De-Orbit of a Heavy, Uncooperative and Tumbling Target in Low Earth Orbit. ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation, 11.-13. Mai 2015, Nordwijk, Niederlande. (pdf)
     
  • R. Lampariello, J. Artigas, N. W. Oumer, W. Rackl, G. Panin, R. Purschke, J. Harder, U. Walter, J. Frickel, I. Masic, K. Ravandoor, J. Scharnagl, K. Schilling, K. Landzettel, G. Hirzinger, FORROST: Advances in On-Orbit Robotic Technologies, IEEE Aerospace Conference. 7-14 March 2015, Big Sky, Montana, USA (link)
     
  • Peter Rank, Quirin Mühlbauer, Gerrit Hausmann, Timo Stuffler, Giorgio Panin, Toralf Boge, Michael Turk, VIBANASS Test Results and Impacts on Kayser-Threde Active Debris Removal Strategy, 64th International Astronautics Congress, Sep. 2013, Beijing (China) (link)
     
  • Nassir W. Oumer, Giorgio Panin, 3D Point Tracking and Pose Estimation of a Space Object Using Stereo Images, International Conference on Pattern Recognition (ICPR), Nov. 2012, Tsukuba (Japan) (link, pdf)
     
  • Giorgio Panin, Mutual information for multi-modal, discontinuity-preserving image registration, International Symposium on Visual Computing (ISVC), July 2012, Rethymnon (Greece), Springer-Verlag LNCS, Best paper award (link, pdf)
     
  • Giorgio Panin, Nassir W. Oumer, Ego-motion estimation using rectified stereo and bilateral transfer function, International Symposium on Visual Computing (ISVC), July 2012, Rethymnon, Crete (Greece), Springer LNCS 7432, pages 458-469 (link, pdf)
     
  • Nassir W. Oumer, Giorgio Panin, Tracking and pose estimation of non-cooperative satellite for on-orbit servicing, i-SAIRAS: International Symposium on Artificial Intelligence, Robotics and Automation in Space, September 2012, Turin (Italy) (pdf)
     
  • Lili Chen, Giorgio Panin, and Alois Knoll. Human body orientation estimation in multiview scenarios. In Proceedings of the 8th International Symposium on Visual Computing (ISVC'12), Crete, Greece, July 2012. Springer-Verlag LNCS. (link)
     
  • Lili Chen, Giorgio Panin, and Alois Knoll. Hierarchical grid-based people tracking with multi-camera setup. In Computer Vision, Imaging and Computer Graphics: Theory and Applications, volume 0274 of Communications in Computer and Information Science, pages 187-202. Springer-Verlag, 2012. (link, pdf)
     
  • Lili Chen, Giorgio Panin, and Alois Knoll. Multi-camera people tracking with hierarchical likelihood grids. In Proceedings of the 6th International Conference on Computer Vision Theory and Applications (VISAPP11), pages 474-483, Algarve, Portugal, March 2011. (pdf)
     
  • 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. (link, 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. (link)
     
  • 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. (link)
     
  • Christoph Staub, Alois Knoll, Robert Bauernschmitt, Giorgio Panin, Claus Lenz Contour-Based Surgical Instrument Tracking Supported by Kinematic Prediction, 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Tokio (Japan), Sep. 2010 (link)
     
  • Giorgio Panin, Thorsten Roder, Erwin Roth, Claus Lenz, Suraj Nair, Sebastian Klose, Thomas Muller, Thomas Friedlhuber, Martin Wojtczyk, Alois Knoll The OpenTL library for model-based visual tracking IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco (CA), June 2010. (public demonstration, link)
     
  • 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. (link, pdf)
     
  • 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. (link, 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. (link, 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. IEEE, October 2009. (link)
     
  • Claus Lenz, Giorgio Panin, Thorsten Röder, Martin Wojtczyk, and Alois Knoll Hardware-assisted multiple object tracking for human-robot-interaction In François 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 (link)
     
  • 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. (link)
     
  • 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 François 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. (link)
     
  • 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. (pdf)
     
  • 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. (pdf)
     
  • 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. (link)
     
  • 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. (pdf)
     
  • 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, Thomas By, Giorgio Panin, and Alois Knoll Integrating language, vision and action for human robot dialog systems In Constantine Stephanidis, editor, Proceedings of the 4th International Conference on Universal Access in Human-Computer Interaction, HCI International, Part II, volume 4555 of Lecture Notes in Computer Science, pages 987-995, Beijing, July 2007. Springer. (link, 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. (link, pdf)
     
  • 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 (link)

PhD dissertation

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

Former publications (during PhD)

  • 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.

Biographical notes
 

I was born in Sassari (Sardinia, Italy) in 1974, where I attended primary and secondary school. I obtained the high-school diploma (Abitur) in June 1992, and afterwards I moved to Genoa to attend my University studies.

My interest for Informatics started in 1990, when I joined a team of hobby programmers, with whom I practiced hardware-programming in assembly code, in order to produce computer graphics animations on a home PC. During that time I could also study classical piano, until obtaining a Master from the national music Conservatory of Genoa, in June 1997.

 

Zuletzt aktualisiert: Dienstag, 16. Februar 2016 von Dr.-Ing. habil. Giorgio Panin