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I am currently working in the following research problems:
|RGB-D Vision including visual odometry, SLAM, dense 3D reconstruction, mapping, localization, pose tracking and benchmarking|
|Micro Aerial Vehicles (MAVs), including camera-based localization, dense mapping, data fusion, safe navigation and, when all of this works, flying manipulation|
In my PhD thesis, I presented novel approaches for:
|Body Schema Learning including bootstrapping and life-long adaptation of the body schema and kinematic models, and robust control in the presence of hardware failures|
|Learning Kinematic Models for Articulated Objects including robust model estimation, Bayesian model comparison and selection, visual perception of articulated objects and robust control with mobile manipulation robots|
|Imitation Learning to learn task descriptions from human demonstrations|
|Tactile Sensing for manipulation robots, to enable them to recognize objects and estimate their internal state using tactile sensors|
I received my master's degree from the University of Amsterdam in 2006. In my master's thesis, I developed a visual compass for mobile robots.
|A visual compass for mobile robots developed for the Dutch Aibo Team and the RoboCup robotic soccer competitions.|