Jürgen Sturm
Jürgen Sturm | |
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Nationality | German |
Education | BS., Artificial Intelligence MS., Artificial Intelligence PhD., Robotics Postdoc., Computer Vision |
Alma mater | University of Amsterdam University of Freiburg Technical University of Munich |
Occupation(s) | Software engineer, entrepreneur and academic |
Engineering career | |
Institutions | FabliTec Metaio (acquired by Apple) Intrinsic |
Website | https://jsturm.de/ |
Jürgen Sturm is a German software engineer, entrepreneur and academic. He is a Senior Staff Software Engineering Manager at Intrinsic, where he works on developing a robot SDK aimed at facilitating and reducing the cost of integrating AI-/ML-powered robots into industrial manufacturing processes.[1]
Sturm is most known for his work on robotics, computer vision, machine learning and artificial intelligence.[2] He has authored and co-authored research articles and a book entitled Approaches to Probabilistic Model Learning for Mobile Manipulation Robots. He is the recipient of the 2011 European Coordinating Committee of Artificial Intelligence (ECCAI) Best Dissertation Award,[3] the 2011 Wolfgang-Gentner Award for an Outstanding PhD Thesis,[4] the TeachInf Best Lecture Award from the Technical University of Munich in 2012 and 2013 for his course Visual Navigation for Flying Robots,[5] and is listed among the most influential robotics scholars in 2022 by Technical University of Munich by AMiner.[6]
Education and early career
[edit]Sturm earned his bachelor's and master's degrees in Artificial Intelligence from the University of Amsterdam in 2006, followed by a PhD in Robotics from the University of Freiburg, with his later thesis published as a book in 2013.[7] From 2011 to 2014, he served as a Postdoctoral Researcher in the Computer Vision group at the Technical University of Munich (TUM), where he worked on real-time camera tracking and 3D person scanning methods. Concurrently, he began his academic career, delivering lectures at TUM and teaching an online course at EdX in 2012 and 2013.[8]
Career
[edit]At TUM, Sturm developed a 3D reconstruction algorithm enabling 3D scanning of a person for printing as a small figure,[9] leading to him co-founding the 3D scanning startup FabliTec in 2013, where he served as CEO until 2015.[10] In 2014, he joined Metaio as a Senior Software Developer and Team Lead.[11] Subsequently, he was appointed Senior Software Engineer and Tech Lead Manager at Google.[12] leading to multiple patents.[13][14] He assumed the position of an Engineering Manager at Intrinsic in 2019.[1]
Research
[edit]Sturm has contributed to the field of engineering by studying robotics, machine intelligence and machine perception, holding several patents for his developments in RGB-D cameras and 3D mapping techniques.[2]
RGB-D SLAM
[edit]Sturm has researched and worked on RGB-D cameras throughout his career. In a collaborative effort, he presented a benchmark for RGB-D SLAM systems, offering high-quality image sequences with accurate ground truth camera poses, diverse scenes, and automatic evaluation tools accessible through a dedicated website.[15] He also proposed a dense visual SLAM method for RGB-D cameras, alongside Daniel Cremers and Wolfram Burgard, improving pose accuracy by minimizing errors.[16] Additionally, he showcased an RGB-D camera SLAM system for the Microsoft Kinect, assessing its accuracy, robustness, and speed across different indoor scenarios and offering it as open-source software.[17]
3D mapping
[edit]Sturm's work on 3D mapping focused on reconstruction and improving techniques for precision. Alongside colleagues, he demonstrated a mapping system using RGB-D cameras for accurate 3-D mapping.[18] He also introduced a real-time mapping system for RGB-D images using an octree structure to update a textured triangle mesh, enabling efficient memory usage for mobile or flying robots,[19] as well as a new real-time visual odometry method for monocular cameras, achieving superior accuracy and speed by continuously estimating a semi-dense inverse depth map.[20] Furthermore, he presented a 3D reconstruction algorithm based on Truncated Signed Distance Functions (TSDF), addressing the challenge of representing dynamic environments for robots, with a focus on continuous refinement of static maps and robust scene differencing.[21]
In a joint research effort, Sturm proposed a graph-based method to calibrate sensor suites for accurate direct georeferencing of images from small unmanned aerial systems, addressing static offsets and in-flight calibration of intrinsic camera parameters.[22]
3D perception
[edit]Sturm has been involved in the development of models for 3D perception and scanning as well. He presented ScanComplete, a data-driven method using a generative 3D CNN model to predict complete 3D models with semantic labels from incomplete scans.[23] In addition, he revealed a real-time RGB-D scene understanding method for mobile devices, combining incremental reconstruction, geometric segmentation, and semantic labeling.[24]
Awards and honors
[edit]- 2011 – Best Dissertation Award, European Coordinating Committee of Artificial Intelligence (ECCAI)[3]
- 2011 – Wolfgang-Gentner-Award for an Outstanding PhD Thesis, University of Freiburg[4]
- 2012 – Best Research Paper Award, Unmanned Aerial Vehicle in Geomatics
- 2012, 2013 – TeachInf Best Lecture Award, Technical University of Munich[5]
- 2022 – Most Influential Robotics Scholar[6]
Bibliography
[edit]Books
[edit]- Approaches to Probabilistic Model Learning for Mobile Manipulation Robots (2013) ISBN 978-3642371592
Selected articles
[edit]- Endres, F., Hess, J., Engelhard, N., Sturm, J., Cremers, D., & Burgard, W. (2012, May). An evaluation of the RGB-D SLAM system. In 2012 IEEE international conference on robotics and automation (pp. 1691-1696). IEEE.
- Sturm, J., Engelhard, N., Endres, F., Burgard, W., & Cremers, D. (2012, October). A benchmark for the evaluation of RGB-D SLAM systems. In 2012 IEEE/RSJ international conference on intelligent robots and systems (pp. 573-580). IEEE.
- Kerl, C., Sturm, J., & Cremers, D. (2013, November). Dense visual SLAM for RGB-D cameras. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2100-2106). IEEE.
- Rethage, D., Wald, J., Sturm, J., Navab, N., & Tombari, F. (2018). Fully-convolutional point networks for large-scale point clouds. In Proceedings of the European Conference on Computer Vision (ECCV) (pp. 596-611).
- Dai, A., Ritchie, D., Bokeloh, M., Reed, S., Sturm, J., & Nießner, M. (2018). Scancomplete: Large-scale scene completion and semantic segmentation for 3d scans. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (pp. 4578-4587).
References
[edit]- ^ a b Häußler, Ute. "Google steigt in Industrie-Robotik ein". Computer&AUTOMATION.
- ^ a b "Jürgen Sturm". scholar.google.com.
- ^ a b "2011 Dissertation Award".
- ^ a b "News - Arbeitsgruppe: Autonome Intelligente Systeme". ais.informatik.uni-freiburg.de.
- ^ a b "TeachInf". Fachschaft MPIC. November 13, 2023.
- ^ a b "Computer Vision Group - News Archive". cvg.cit.tum.de.
- ^ "PhD Thesis".
- ^ "TUMx: Autonomous Navigation for Flying Robots". edX.
- ^ Sturm, Jürgen; Bylow, Erik; Kahl, Fredrik; Cremers, Daniel (April 5, 2013). "CopyMe3D: Scanning and Printing Persons in 3D". In Weickert, Joachim; Hein, Matthias; Schiele, Bernt (eds.). Pattern Recognition. Lecture Notes in Computer Science. Vol. 8142. Springer. pp. 405–414. doi:10.1007/978-3-642-40602-7_43. ISBN 978-3-642-40601-0 – via Springer Link.
- ^ "CopyMe3D: High-Resolution 3D Copying and Printing of Objects | COPYME3D Project | Fact Sheet | FP7". CORDIS | European Commission.
- ^ "Apple Buys Metaio For Augmented Reality Technology".
- ^ "Juergen Sturm". research.google.
- ^ "Extracting 2d floor plan from 3d grid representation of interior space".
- ^ "Automated understanding of three dimensional (3D) scenes for augmented reality applications".
- ^ Sturm, Jrgen; Engelhard, Nikolas; Endres, Felix; Burgard, Wolfram; Cremers, Daniel (October 5, 2012). "A benchmark for the evaluation of RGB-D SLAM systems". 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE. pp. 573–580. doi:10.1109/iros.2012.6385773. ISBN 978-1-4673-1736-8.
- ^ Kerl, Christian; Sturm, Jurgen; Cremers, Daniel (November 5, 2013). "Dense visual SLAM for RGB-D cameras". 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE. pp. 2100–2106. doi:10.1109/iros.2013.6696650. ISBN 978-1-4673-6358-7.
- ^ Endres, Felix; Hess, Jurgen; Engelhard, Nikolas; Sturm, Jurgen; Cremers, Daniel; Burgard, Wolfram (May 5, 2012). "An evaluation of the RGB-D SLAM system". 2012 IEEE International Conference on Robotics and Automation. IEEE. pp. 1691–1696. doi:10.1109/icra.2012.6225199. ISBN 978-1-4673-1405-3.
- ^ Endres, Felix; Hess, Jurgen; Sturm, Jurgen; Cremers, Daniel; Burgard, Wolfram (February 5, 2014). "3-D Mapping With an RGB-D Camera". IEEE Transactions on Robotics. 30 (1): 177–187. doi:10.1109/TRO.2013.2279412 – via CrossRef.
- ^ Steinbrucker, Frank; Sturm, Jurgen; Cremers, Daniel (May 5, 2014). "Volumetric 3D mapping in real-time on a CPU". 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE. pp. 2021–2028. doi:10.1109/ICRA.2014.6907127. ISBN 978-1-4799-3685-4 – via CrossRef.
- ^ Engel, Jakob; Sturm, Jurgen; Cremers, Daniel (April 5, 2013). "Semi-dense Visual Odometry for a Monocular Camera". pp. 1449–1456 – via openaccess.thecvf.com.
- ^ Fehr, Marius; Furrer, Fadri; Dryanovski, Ivan; Sturm, Jürgen; Gilitschenski, Igor; Siegwart, Roland; Cadena, Cesar (May 5, 2017). "TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery". 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE. pp. 5237–5244. doi:10.1109/ICRA.2017.7989614. hdl:20.500.11850/189737. ISBN 978-1-5090-4633-1 – via www.research-collection.ethz.ch.
- ^ Bender, D.; Schikora, M.; Sturm, J.; Cremers, D. (August 16, 2013). "A Graph Based Bundle Adjustment for Ins-Camera Calibration". The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. XL-1–W2: 39–44. doi:10.5194/isprsarchives-XL-1-W2-39-2013 – via Copernicus Online Journals.
- ^ Dai, Angela; Ritchie, Daniel; Bokeloh, Martin; Reed, Scott; Sturm, Jürgen; Nießner, Matthias (April 5, 2018). "ScanComplete: Large-Scale Scene Completion and Semantic Segmentation for 3D Scans". pp. 4578–4587 – via openaccess.thecvf.com.
- ^ Wald, Johanna; Tateno, Keisuke; Sturm, Jurgen; Navab, Nassir; Tombari, Federico (October 5, 2018). "Real-Time Fully Incremental Scene Understanding on Mobile Platforms". IEEE Robotics and Automation Letters. 3 (4): 3402–3409. doi:10.1109/LRA.2018.2852782 – via CrossRef.