Rustam Stolkin, PhD, MEng

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

About me:

I am currently a Research Fellow in the Intelligent Robotics Lab at University of Birmingham, School of Computer Science. I also serve as Director of Knowledge Transfer for the lab. I am an interdisciplinary engineer, working on various aspects of Robotics and Machine Intelligence. In particular I work on robotic grasping and manipulation, computational vision for robots, all-terrain robot vehicles , underwater robots. I also work on a variety of science education projects, and do occasional popular science writing and journalism. Previously I worked at Stevens Institute of Technology, Center for Maritime Systems, where I worked extensively on marine sensing of various kinds.

Bits and pieces:

·         My book chapter “Continuous machine learning in computer vision” – a tutorial, some of my adaptive tracking ideas, and ideas for future research.

·         Some journalism – “Patterns of an Artificial Mind” – Indian history of mathematics and modern AI.

·         TV News – “Robot versus robot in Hoboken” – some of my educational outreach work with underwater robots.

·         Robot Vision – tracking people and vehicles, visual servoing. We have recently extended this to fusion of visible and thermal imaging devices – videos coming soon...

 

Some news:

·         We recently won funding for a project on bomb-disposal robots, from EPSRC and the defence industry – cross-school collaboration with EECE dept.

·         1st prize for our business plan, at the Enterprising Birmingham Showcase event – “Cutting edge robotics solutions for the defence and civil sectors”  - cross-school collaboration with EECE dept.

·         I am pleased to be a part of the EU FP7 STREP project GeRT on grasping and manipulation with the JUSTIN humanoid robot – collaboration with German Aerospace Research Centre, Max Planck Institute, and University of Orebro.

·         I was very flattered to meet Prof. Majumder of the Indian Statistical Institute – he helped build some of the earliest computers in India, and pioneered many techniques in statistical pattern recognition – see photo, right.

 

Selected publications:

Books chapters

R. Stolkin, “Continuous Machine Learning in Computer Vision – Tracking with Adaptive Class Models”.

Chapter in “Scene Reconstruction, Pose Estimation and Tracking”, G. Obinata, A Dutta, R. Stolkin, eds., Advanced Robotic Systems International, pp. 265-282, 2007.

Newspaper articles and literary journals

R. Stolkin. “America, religion and Darwinism”. Review – The Creation, An Appeal to Save Life on Earth, by E.O. Wilson. Ananda Bazar Patrika, Nov. 2007.

R. Stolkin. Review – The God Delusion by Richard Dawkins. Bookline Quarterly Journal, 2007.

R. Stolkin. “Patterns of an Artificial Mind”. Ananda Bazar Patrika (India’s oldest daily > 7million readers).

History of Indian mathematics and modern AI. Extended feature article to coincide with International Conference on Advances in Pattern Recognition at Indian Statistical Institute, Calcutta, 24TH December, 2006.

R. Stolkin. “Genetic Engineering”, letter to the editor, Private Eye magazine, December 2005.

 

Journal publications

        P. Rogowski, R. Stolkin, M. Bruno. Optimization of the spatial distribution of oceanographic sensors in a highly variable estuarine environment”. Journal of Marine Environmental Engineering. 29 pages, accepted for pub., 2010.

 

R. Stolkin, I. Florescu. “Probability of detection and optimal sensor placement for threshold based detection systems”. IEEE Sensors Journal, vol. 9(1), pp. 57-60, 2008.

 

R. Stolkin, A. Greig, J. Gilby. “An EM / E-MRF algorithm for adaptive model based tracking in extremely poor visibility”. Journal of Image and Vision Computing. Elsevier, vol. 26(4), pp. 480-495, 2008.

 

R. Stolkin, L. Vickers, J. Nickerson. Using Environmental Models for Sensor Placement Optimization. IEEE Sensors Journal, vol. 7(3), pp. 319-320, 2007. Note: this is a full (but concise) paper – not an abstract.

 

R. Stolkin, A. Greig, J. Gilby. “A calibration system for measuring 3D ground truth for validation and error analysis of robot vision algorithms”. Journal of Measurement Science. Institute of Physics, vol. 17(10), pp. 2721-2730, 2006.

 

D. Bozdog, I. Florescu, R. Stolkin. “Single click image segmentation using mean shift”. Abstract in Perception, Journal of the Applied Vision Association, vol. 38, pp. 625-626, 2009.

 

D. Bozdog, I. Florescu, R. Stolkin. “Optimal parameter selection for mean shift type segmentation algorithms”. Abstract in Perception, Journal of the Applied Vision Association, vol. 38, pp. 626, 2009.

 

 

Peer reviewed conference proceedings papers

1)       D. Duff, T. Morwald, R. Stolkin, J. Wyatt. “Physical simulation for monocular 3D model based tracking”. International Conference on Robotics and Automation, 8 pages, accepted – in press 2011.

 

2)       T. Morwald, M. Kopicki, R. Stolkin, J. Wyatt, S. Zurek, M. Zillich, M. Vincze. “Predicting the unobservable: 3D tracking taking advantage of probabilistic prediction”. International Conference on Robotics and Automation, 8 pages,  accepted – in press 2011.

 

3)       M. Kopicki, S. Zurek, R. Stolkin, T. Morwald, J. Wyatt. “Learning to predict how rigid objects behave under simple manipulation”. International Conference on Robotics and Automation, 8 pages,  accepted – in press 2011.

 

4)       L. Hotaling, R. Stolkin, S. Lowes, P. Lin. “Student created water quality sensors”. American Society for Engineering Education, annual conference, 8 pages, accepted – in press 2011.

 

5)       D. Duff, R. Stolkin, J. Wyatt. “Motion estimation using physical simulation”. Proc. International Conference on Robotics and Automation, 8 pages, 2010.

 

6)       M. Kopicki, R. Stolkin, S. Zurek, T. Morwald, J. Wyatt. “Predicting workpiece motions under pushing manipulations using the principle of minimum energy”. Robotics: Science and Systems conference, Proc. Workshop: Representations for object grasping and manipulation in single and dual arm tasks, 8 pages, 2010.

 

7)       L. Hotaling, R. Stolkin, W. Kirkey, J. Bonner, S. Lowes, T. Ojo, P. Chen.  “Student enabled water quality sensor networks”.  Proc. IEEE Marine Technology Society OCEANS, 6 pages, 2010.

 

8)       M. Kopicki, J. Wyatt, R. Stolkin. “Prediction learning in robotic pushing manipulation”. International Conference on Advanced Robotics, 6 pages, 2009.

 

9)       L. Hotaling, R. Stolkin, W. Kirkey, J. Bonner, S. Lowes, T. Ojo, P. Chen. “SENSE IT — Student enabled network of sensors for the environment using innovative technology”.  Proc. IEEE MTS OCEANS, 4 pages, 2009.

 

10)   R. Stolkin, I. Florescu, M. Baron, C. Harrier. “Efficient visual servoing with the ABCshift tracking algorithm”. Proc. IEEE International Conference on Robotics and Automation, 6 pages, 2008.

 

11)   L. Hotaling, R. Stolkin, J. Bonner, W. Kirkey.  “Sense the Hudson – Student developed environmental sensors classroom project”.  Proc. IEEE Marine Technology Society OCEANS, 3 pages, 2008.

 

12)   McGrath, Lowes, Lin, Sayers, Hotaling, Stolkin, “Building middle and high school students’ understanding of engineering, science and IT through underwater robotics”, Proc. American Society for Engineering Education, Annual Conference, 18 pages, 2008.

 

13)   R. Stolkin, I. Florescu, G. Kamberov. “An adaptive background model for CAMSHIFT tracking with a moving camera”. Proc. International Conference on Advances in Pattern Recognition, 5 pages, 2007.

 

14)   R. Stolkin, M. Hodgetts, A. Greig, J. Gilby. “Extended-Markov Random Fields for Predictive Image Segmentation”. Proc. International Conference on Advances in Pattern Recognition, 6 pages, 2007.

 

15)   D. Kruger, R. Stolkin, A. Blum, J. Briganti. “Optimal AUV path planning for extended missions in complex, fast-flowing estuarine environments”. Proc. IEEE International Conference on Robotics and Automation, 6 pages, 2007.

 

16)   R. Stolkin, L. Hotaling, R. Sheryll, C. Chassapis, B. McGrath, K. Sheppard. “A paradigm for vertically integrated curriculum innovation – how curricula were developed for undergraduate, middle and high school students using underwater robotics”. International Conference on Engineering Education, 6 pages, 2007.

 

17)   R. Stolkin, R. Sheryll, L. Hotaling. “Braitenbergian experiments with simple aquatic robots”, Proc. IEEE MTS OCEANS, 7 pages, 2007.

 

18)   R. Stolkin, I. Florescu. “Probabilistic analysis of a passive acoustic diver detection system for optimal sensor placement and extensions to localization and tracking”, Proc. IEEE MTS OCEANS, 6 pages, 2007.

 

19)   R. Stolkin, S. Radhakrishnan, A. Sutin, R. Rountree. “Passive acoustic detection of modulated underwater sounds from biological and anthropogenic sources”, Proc. IEEE MTS OCEANS, 8 pages, 2007.

 

20)   M. Raftery, R. Stolkin. “Ocean Surface Wave Energy Harnessing Development at Stevens Institute of Technology”, Proc. IEEE MTS OCEANS, 8 pages, 2007.

 

21)   P. Rogowski, R. Stolkin. “A technique for optimizing the placement of oceanographic sensors with example case studies for the New York Harbor region”, Proc. IEEE MTS OCEANS, 10pages, 2007.

 

22)   R. Stolkin, L. Hotaling, R. Sheryll. “A simple ROV project for the engineering classroom”. Proc. IEEE / Marine Technology Society OCEANS conference, 6 pages, 2006.

 

23)   L. Vickers, R. Stolkin, J. Nickerson. “Computational Environmental Models Aid Sensor Placement Optimization for Detecting Underwater Threats”. Proc. IEEE Military Communications Conference, workshop on Situation Management, 6 pages, 2006.

 

24)   L. Hotaling, R. Stolkin, R. Sheryll. “Discovery based learning in the engineering classroom using underwater robotics”. Proceedings of the American Society for Engineering Education Annual Conference. Chicago, 9 pages, 2006. Nominated for best paper award.

 

25)   R. Stolkin et al. “Feature based passive acoustic detection of a diver”. Proc. SPIE Defense and Security Symposium, 10 pages, 2006.

 

26)   L. Hotaling, R. Sheryll, R. Stolkin. “Discovery based learning in the engineering classroom using underwater robotics”. Proc. ASEE Northeast Regional Conference, 13 pages, 2006.

 

27)   R. Stolkin, A. Greig, J. Gilby. “Measuring complete ground-truth data and error estimates for real video sequences, for performance evaluation of tracking, camera pose and motion estimation algorithms”. Proc. International Conference on Computer Vision, BenCOS workshop, 6 pages, 2005.

 

28)   R. Stolkin, J. Nickerson. “Combining multiple autonomous mobile sensor behaviors using local clustering”. Proc. IEEE Military Communications Conference, workshop on Situation Management, 7 pages, 2005.

 

29)   R. Stolkin, L. Hotaling, R. Sheryll “Using underwater robotics in the engineering classroom”. Proc. ROBOLAB Conference. Austin, 8 pages, 2005.

 

30)   R. Stolkin, A. Greig, J. Gilby. “Video with ground-truth for validation of visual registration, tracking and navigation algorithms”. Proc. IEEE Canadian Conference on Computer and Robot Vision, 8 pages, 2005.

 

31)   R. Stolkin, M. Hodegtts, A. Greig. “An EM / E-MRF Strategy for Underwater Navigation”, Proc. 11th British Machine Vision Conference, 10 pages, 2000.