Chris' Research Page
Last updated: June 4, 2006.
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I am enrolled in a PhD at the Australian National University, under the supervision of:
My interest is in computer vision and robotics. I am most
interested in the use of visual motion (optical flow) for biologically inspired
mobile robot navigation. I am interested in implementing more robust
navigational behaviours through biologically inspired techniques, but also in
better understanding biological vision systems through the building and testing
of artificial models (i.e. robots).
My PhD work is extending the links between the study of biological
vision systems (specifically the honeybee), and the building of robust
algorithms for the visual control of an autonomous vehicle. Bees
possess an incredible ability to
achieve high precision movements, and solve complex navigational tasks.
abilities include navigating cluttered environments, performing graze
with pin point precision, flight stabilisation, and an ability to
estimate distance travelled. Perhaps what is most remarkable about all
is that they achieve it all using a brain possessing no more than a
million neurons. To put this in perspective, humans have something
closer to a million million neurons!
This suggests a close coupling between motor responses and
a highly specialised vision system, and much has been learnt about
this vision system over the last half century.
From a robotics persective, there is obviously much to learn from the
honeybee as well. My project looks specifically at how the honeybees panoramic view of the world may be exploited to design better algorithms for robot navigation,
given a similar digital spherical projection from two cameras. To do this, we
are building a ground-based mobile robot, equiped with two 180 degree FOV cameras, simulating the eye
configuration of the honeybee.
By modelling the honeybee in this way, we also hope to pose new questions for
the biological vision community, and contribute to the understanding of biological vision systems (including our own).
The following is a list of my academic
publications to date.
- [in press] "A robust docking strategy for a mobile robot using flow field divergence", by C. McCarthy, N. Barnes and R. Mahony.
To appear in IEEE Transactions on Robotics, 2008
- "Real time biologically-inspired depth maps from spherical flow", by C. McCarthy, N. Barnes and M.V. Srinivasan. Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, 2007.
- "Insect Inspired Robots", by J. Lim, C. McCarthy, D. Shaw, N. Barnes and L. Cole. Proceedings of the 2006 Australiasian Conference on Robotics and Automation (ACRA2006), Auckland, New Zealand, 2006.
- "A robust docking strategy for a mobile robot using flow field divergence", by C. McCarthy and N. Barnes. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 2006), Beijing, China, 2006.
- "Comparison of temporal filters for optical flow estimation in
continuous mobile robot navigation",
by C. McCarthy and N. Barnes. Springer Tracts in Advanced Robotics:
Experimental Robotics IX: The 9th International Symposium on
Experimental Robotics (Singapore 2004), Volume 21, pp 481-90, 2006.
Paper was awarded
"International Foundation of Robotics Research Student Fellowship Award".
- "Performance of optical flow techniques for indoor navigation with a mobile robot",
by C. McCarthy and N. Barnes. Proceedings of IEEE International
Conference on Robotics and Automation (ICRA2004), pp 5093-5098, New
Orleans, USA, 2004.
- "Performance of temporal filters for optical flow estimation in mobile robot
corridor centring and visual odometry", by C. McCarthy and N. Barnes.
Proceedings of the 2003 Australasian Conference on Robotics and Automation. Brisbane, Australia, 2003.
- [in press]"Towards a Hazard Perception Assistance System using Visual Motion",
by C. McCarthy, N. Barnes, K. Anstey and M. Horswill.
ECCV Workshop on Computer Vision Applications for the Visually Impaired
(CVAVI 08). Marseille, France, Oct. 18, 2008.
These are presentations (conferences:[CNF], seminars:[SEM], workshops:[WKS])
I have given or am scheduled to give:
- [WKS] Making flow-based navigation strategies work.
To be presented at the ANU RSBS summer school on insect inspired robotics, Dec 2006, Canberra, Australia.
- [CNF] "A robust docking strategy for a mobile robot using flow field
divergence". To be presented at the IEEE/RSJ International Conference on
Intelligent Robots and Systems Oct 2006, Beijing, China, 2006.
- [WKS] "Performance of Optical Flow Techniques for continuous mobile robot
navigation". To be presented at Insect Sensors and Robotics Workshop. Aug 2004,
Brisbane QLD , Australia.
- [CNF] "Comparison of temporal filters for optical flow estimation in
continuous mobile robot navigation". Presented at ISER'04
International Symposium on Experimental Robotics. Jun 2004, Singapore.
- [SEM] "Performance of Optical flow techniques for contiuous mobile robot
navigation". Presented at ANU, Sys Eng dept seminar. Jun 2004, Canberra ACT, Australia.
- [CNF] "Performance of optical flow techniques for indoor navigation with a
mobile robot". Presented at IEEE ICRA04, the 2004 International
Conference on Robotics and Automation. Apr 2004, New Orleans LA, USA.
[CNF] "Performance of temporal filters for optical flow estimation in mobile
robot corridor centring and visual odometry". Presented at 2003 Australiasian
Conference on Robotics and Automation. Dec 2003, Brisbane Qld, Australia.
[SEM] "Performance of optical flow techniques for indoor navigation with a
mobile robot". Presented at Univ. Melb CSSE postgrad seminar. Nov 2003,
Melbourne Vic, Australia.
- [CNF] "The Trials and Tribulations of World Cup Robot Soccer". Presented
at 2002 Australian Computer Society National Conference: Student and Young
Professionals. March 2002, Lorne Vic, Australia. (Survey conducted at
conference gave talk highest ranking for interest and delivery)
- Performance of Optical Flow Techniques for Mobile Robot Navigation:
My Masters thesis compared optical
flow techniques for mobile robot navigation. While comparisons have been done
previously, these have not adequately addressed the specific issues
associated with embedding such techniques in the control loop of a real-time
system (like a robot). This needs to be addressed if this paradigm of
robot navigation is to gain more attention from main stream mobile robot
reseacrh. We seek to provide a systematic basis on which to choose an optical
flow technique, which previously did not exist.
to read about the
RoboCup project. I have been involved with the Dog leauge (which uses
the Sony Aibo robots shown below) since 2001 as a co-supervisor and
adviser and have also assisted with software development.
In 2002, our team came 4th in the world in Fukuoka, Japan.
- Web Based Telerobot:
My honours project, completed in June 1999, was to develop a telerobotic
control and monitoring system on the WWW. The robot had a radio link with a
local PC that performed all local navigation. This system also communicated
with a remotely run applet which displayed images from an overhead camera and
a GUI for different modes of control (Direct or Supervisory).
Professional Society Memberships
Stress management in the robotics labs
Click here for my four step plan to stress
management (with a coke can). This was during honours last century.
Last Updated: June 4, 2006