Simon Leonard
Postdoc (Computing Science) Johns Hopkins University
Postdoc (Mechanical Engineering) University of British Columbia
Ph.D. (Computing Science) University of Alberta
M.Sc. (Computing Science) University of British Columbia
B. Eng. (Electrical Engineering) École de technologie supérieure
The Johns Hopkins University
CISST-ERC
3400 N. Charles Street
319 CSEB
Baltimore, MD 21218
Personal Information
Blackcomb
Research
My research interests are visual servoing and hand-eye coordination. My research involves approximating the visuomotor function relating variations in the visual space to variations in the motor space at a global scale. The approximating method is based on machine learning where the system performs an online hand eye calibration by interacting with its environment or performing a task.
Publications
De Carli, D., Hohert, E., Parker, C., Zoghbi, S., Leonard, S., Croft, E., Bicchi, A., "Measuring
Intent in Human-Robot Cooperative Manipulation". IEEE International Workshop on Haptic Audio Visual
Environments and Games (HAVE 2009) . (to appear).
Leonard, S., Croft, E., Little, J.J., "Planning Collision-Free and Occlusion-Free Paths for Industrial
Manipulators with Eye-to-Hand Configuration". 2009 IEEE International Conference on Intelligent
Robots and Systems (IROS'09). (to appear).
Bauman, M., Dupuis, D.C., Leonard, S., Croft, E., Little, J.J.,
Occlusion-Free Path Planning with a Probabilistic Roadmap. 2008 IEEE International Conference on Intelligent Robots and Systems (IROS'08). Nice, France. September 22-26 2008.
Dupuis D., Leonard S, Baumann M., Croft E., Little J.J.
Two-Fingered Grasp Planning for Randomized Bin-Picking. Robotics: Science and Systems - Robot Manipulation: Intelligence in Human Environments.
Zurich, Switzerland June 25-28 2008.
Leonard S., Croft E., Little J.J. "Dynamic Visibility Checking for
Vision-Based Motion Planning". International Conference on Robotics
and Automation (ICRA 2008) Pasadena, USA. May 19-23, 2008.
Leonard S., Chan A., Croft E., Little J.J. "Robust Motion Generation for
Vision-Guided Robot Bin-Picking". Proceedings of IMECE2007. 2007 ASME
International Mechanical Engineering Congress and Exposition
Seattle, Washington, USA. November 11-15, 2007.
Leonard S., Jagersand M. "On with the Visuomotor Function: A 6DOF Adaptive Approach for Modeling Image-Based Variations and Visual Servoing". International Conference on Robotics and Automation (ICRA 2007) Rome, Italy April 10-14, 2007.
Leonard S., Jagersand M. "Adaptive Control for Estimating Translations from Image-Based Variations". International Conference on Robotics and Automation (ICRA 2006) Orlando, US May15-19, 2006.
Leonard S., Jagersand M. "Incremental Learning for Mapping Image Variations to Actions". International Conference on Robotics and Automation (ICRA 2005) Barcelona, Spain April 18-22, 2005.
Leonard S., Jagersand M. "Learning Based Visual Servoing". International Conference on Intelligent Robots and Systems (IROS 2004) Sendai, Japan September 28 - October 2, 2004.
Leonard S., Jagersand M. "Approximating the Visuomotor Function for Visual Servoing" Canadian Conference on Computer and Robot Vision (CRV 2004) London, Canada 17-19 May 2004.
Leonard S., Jagersand M. Tracking the Pose of Objects through Subspace Proc. of Scandinavian Conference on Image Analysis (SCIA 2003) Göteborg, Sweden June 29 - July 2 2003, pp. 371-378
Leonard S., Lepage, R., Redarce T. Associative memory for geon-based object identification, Proc. of Int. Joint Conf. on Neural Networks (IJCNN'99), (Washington, US, 10-16 July 1999), vol. 5, pp. 3494-3499.
accesses.
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Simon Léonard