Daniel Canelhas

Daniel Canelhas

I am a PhD student in robot vision, interested in 3D mapping, camera tracking, optimization and machine learning. I like to make art, write code, play music, do sports, read science-fiction, science-fact, play video-games, and tell bad jokes. 

Academic

  • 2012–present
    Ph.D. in Computer Science at Örebro Universitet
    Truncated Signed Distance Fields and Their Application to Robotics
  • 2010–2012
    M.Sc. Robotics and Intelligent Systems at Örebro Universitet
    Scene Representation, Registration and Object Detection in a Truncated Signed Distance Function Representation of 3D Space 
  • 2002–2006
    B.Sc. Mechanical Engineering with emphasis in Mechatronics at Pontíficia Universidade Católica – Minas Gerais – Brazil
    Undergraduate research with Prof. Marcelo Becker on auto-localization of indoor mobile robots under a scientific initiation scholarship

Professional

  • 2016 – Örebro Universitet, Teaching Assistant in Computer Graphics
  • 2016 – Örebro Universitet, Teaching Assistant in Multi-Agent Systems
  • 2015 – Örebro Universitet, Undergraduate Thesis supervisor
    “Baking And Compression For Dynamic Lighting Data” by Tom Olsson – DIVA 
  • 2015 – Örebro Universitet, Teaching Assistant in Computer Animation
  • 2014 – Örebro Universitet, Teaching Assistant in Computer Graphics
  • 2013 – Örebro Universitet, Teaching Assistant in C-programming
  • 2007–2012 – Areva T&D / Alstom Grid (Västerås), Mechanical Design Engineer in High-voltage AC substation (15 to 400kV)
  • 2006 – CEMIG (Belo Horizonte, Brazil), Internship in High-voltage AC substation automation and electrical engineering
  • 2001–2002 – Intervalo (Belo Horizonte, Brazil), Internship in classical 2D animation and illustration

SDF tracker : a parallel algorithm for on-line pose estimation and scene reconstruction from depth images. Or, alternatively, my Master's thesis

3D reconstruction using the SDF-Tracker algorithm, estimating camera pose and fusing depth images into a dense 3D model on the CPU (code)

An Eigenshapes Approach to Compressed Signed Distance Fields and Their Utility in Robot Mapping

Mapping a large environment by shifting the reconstruction volume and encoding exiting voxels as their eigen-shapes descriptors.

From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs.

For really large scenes you might want an (even) sparser representation. Sparse Stable Scene Graphs (SSSG) represents the dense 3d model as a graph of spatially interconnected feature

 

 

Contact

Dr. Daniel Canelhas

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1102
Phone +46 (0)19 30 35 36
daniel.canelhas@oru.se

Publications

Journal Articles

[1] D. R. Canelhas, E. Schaffernicht, T. Stoyanov, A. Lilienthal and A. J. Davison. Compressed Voxel-Based Mapping Using Unsupervised Learning. Robotics, 6(3), 2017 [ BibTeX | DiVA  ]
[2] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs. IEEE Robotics and Automation Letters, 1(2):1148-1155, 2016 [ BibTeX | DiVA  | PDF ]
[3] T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. M. Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal and W. Echelmeyer. No More Heavy Lifting : Robotic Solutions to the Container-Unloading Problem. IEEE robotics & automation magazine, 23(4):94-106, 2016 [ BibTeX | DiVA  | PDF ]
[4] Canelhas, D.R., Schaffernicht, E., Stoyanov, T., Lilienthal, A.J. and Davison, A.J. An Eigenshapes Approach to Compressed Signed Distance Fields and Their Utility in Robot Mapping. CoRR, abs/1609.02462, 2016 [ BibTeX | PDF ]

Refereed Conference and Workshop Articles

[1] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),, pages 6337-6343, 2018 [ BibTeX | DiVA  | PDF ]
[2] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. Improved local shape feature stability through dense model tracking. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3203-3209, 2013 [ BibTeX | DiVA  | PDF ]
[3] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. SDF tracker : a parallel algorithm for on-line pose estimation and scene reconstruction from depth images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3671-3676, 2013 [ BibTeX | DiVA  | PDF ]

Theses

[1] D. R. Canelhas. Truncated Signed Distance Fields Applied To Robotics. Örebro University, School of Science and Technology, Ph.D. Thesis, 2017 [ BibTeX | DiVA  | PDF ]
[2] D. RICAO CANELHAS. Scene Representation, Registration and ObjectDetection in a Truncated Signed Distance FunctionRepresentation of 3D Space. Örebro University, School of Science and Technology, M.Sc. Thesis, 2012 [ BibTeX | DiVA  | PDF ]

Find the complete BibTeX record here.

 
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