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Robert Cupec, PhD

Robert Cupec graduated at the Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia in 1995, where he received the M.Sc. degree in 1999. He received Dr. –Ing. degree from the Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany, in 2005. Currently, he is employed as an associate professor at the Faculty of Electrical Engineering, Josip Juraj Strossmayer University of Osijek, Croatia. His research interests include robotics and robot vision.

Recent Projects:

Advanced 3D Perception for Mobile Robot Manipulators

Crop Row Detection

Mobile Robot Localization in Indoor Environments Using 3D Camera

Fast Segmentation of Range Images to Approximately Convex Surfaces

Old Projects:

Sensor-Based Humanoid Walking (2000 - 2003)

Publications:

  1. Lenac, K.; Kitanov, A.; Cupec, R.; Petrović, I. Fast planar surface 3D SLAM using LIDAR. // Robotics and autonomous systems. 92 (2017) ; 197-220 (PDF)
  2. Filko, D.; Cupec, R.; Nyarko, E. K. Evaluation of Color and Texture Descriptors for Matching of Planar Surfaces in Global Localization Scheme. // Robotics and autonomous systems. vol. 80, pp. 55–68. (2016) DOI:10.1016/j.robot.2016.03.007
  3. Vidović, I.; Cupec, R.; Hocenski, Ž. Crop Row Detection by Global Energy Minimization. // Pattern recognition. 55; pp. 68-86. (2016) DOI:10.1016/j.patcog.2016.01.013
  4. Cupec, R.; Nyarko, E. K.; Filko, D.; Kitanov, A.; Petrović, I. Place Recognition Based on Matching of Planar Surfaces and Line Segments. // The International Journal of Robotics Research, vol. 34, no. 4-5, pp. 674-704 (2015) DOI: 10.1177/0278364914548708 (PDF)
  5. Cupec, R.; Filko, D.; Vidović, I.; Nyarko, E. K.; Hocenski, Ž. Point Cloud Segmentation to Approximately Convex Surfaces for Fruit Recognition. // Proceedings of 3rd Croatian Computer Vision Workshop (CCVW 2014), Zagreb, Croatia, 16.09.2014.
  6. Cupec, R.; Nyarko, E. K.; Filko, D.; Kitanov, A.; Petrović, I. Global Localization Based on 3D Planar Surface Segments // Proceedings of 2nd Croatian Computer Vision Workshop (CCVW 2013), Zagreb, Croatia, 19.09.2013.
  7. Cupec, R.; Nyarko, E. K.; Slišković, D. Efficient postprocessing of edge maps for image segmentation based on greedy correction cost minimization. // Journal of Electronic Imaging, 21 (2012), 2; 023007-1-13, DOI: 10.1117/1.JEI.21.2.023007
  8. Cupec, R.; Nyarko, E. K.; Filko, D.; Petrović, I. Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences. // Proceedings of 10th IFAC Symposium on Robot Control(SYROCO 2012), Dubrovnik, Hrvatska, 05-07.09.2012.
  9. Cupec, R.; Nyarko, E. K.; Grbić, R. Detection of Dominant Planar Surfaces in Disparity Images Based on Random Sampling. // Tehnički vjesnik : znanstveno-stručni časopis tehničkih fakulteta Sveučilišta u Osijeku. 18 (2011) , 3; 301-308.
  10. Cupec, R.; Aleksi, I.; Schmidt, G. Step Sequence Planning for a Biped Robot by Means of a Cylindrical Shape Model and a High-Resolution 2.5D Map. // Robotics and Autonomous Systems, 59 (2011), 2; 84-100. DOI: 10.1016/j.robot.2010.10.007
  11. Cupec, R.; Nyarko, E. K.; Filko, D.; Fast 2.5D Mesh Segmentation to Approximately Convex Surfaces // Proceedings of the 5th European Conference on Mobile Robots, ECMR11, Örebro, Švedska, str. 127-132, 2011.
  12. Nyarko E. K.; Cupec, R.; Dželajlija, A. Detection of Dominant Planar Surfaces in Indoor Environment Using Stereo Vision and Image Segmentation. // Proceedings of the 28th International Scientific Colloquium Science in Practice, Subotica, Srbija, 3-4.06.2010. (postupak publiciranja zbornika je u tijeku)
  13. Cupec, R.; Grbić, R.; Sabo, K.; Scitovski, R. Three Points Method for Searching the Best Least Absolute Deviations Plane. // Applied Mathematics and Computation. 215 (2009), 3; 983-994. DOI:10.1016/j.amc.2009.06.023;
  14. Cupec, R.; Nyarko E. K.; Kitanov A.; Petrović, I. RANSAC-Based Stereo Image Registration with Geometrically Constrained Hypothesis Generation. // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije. 50 (2009), 3-4; 195-204.
  15. Cupec, R.; Schmidt, G. Free Space Representation for Biped Walking Robots. // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije. 50 (2009), 1-2; 51-64.
  16. Cupec, R.; Grbić, R.; Nyarko, K. E.; Sabo, K.; Scitkovski, R. Detection of Planar Surfaces Based on RANSAC and LAD Plane Fitting. // Proceedings of the 4th European Conference on Mobile Robots, ECMR09, Mlini/Dubrovnik, Hrvatska, 23-25.09.2009.
  17. Cupec, R.; Nyarko, K. E.; Kitanov, A.; Petrović, I. Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence. // Proceedings of the 4th European Conference on Mobile Robots, ECMR09, Mlini/Dubrovnik, Hrvatska, 23-25.09.2009.
  18. Cupec, R.; Kitanov, A.; Petrović, I. Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation. // Proceedings of the 40th International Symposium on Robotics, Barcelona, Španjolska, 2009., str. 265-270.
  19. Cupec, R.; Schmidt, G.; Lorch, O. Vision-Guided Walking in a Structured Indoor Scenario. // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije. 46 (2005), 1-2; 49–57.
  20. Cupec, R.; Schmidt, G. An Approach to Environment Modelling for Biped Walking Robots. // Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Kanada, 2005, str. 3089-3094.;
  21. Cupec, R.; Schmidt, G.; Lorch, O. Experiments in Vision-Guided Robot Walking in a Structured Scenario, // Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE), Dubrovnik, Hrvatska, lipanj 2005., str. 1581-1586.
  22. Cupec, R.; Lorch, O.; Schmidt, G. Vision-Guided Humanoid Walking - Concepts and Experiments, // CD-ROM Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Cassino, Italija, svibanj 2003., code 008RAAD03.
  23. Cupec, R.; Denk, J.; Schmidt, G. Practical Experience with Vision-Based Biped Walking, // CD-ROM Proceedings of the 8th International Symposium on Experimental Robotics, (ISER), Sant' Angelo d'Ischia, Italija, lipanj 2002., log. no. 083.
  24. Lorch, O.; Albert, A.; Denk, J.; Gerecke, M.; Cupec, R.; Seara, J. F.; Gerth, W.; Schmidt, G. Experiments in Vision-Guided Biped Walking, // Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Lausanne, Švicarska, 2002., str. 2484-2490.
  25. Cupec, R.; Perić, N.; Petrović, I. Adaptive Control Based on Fuzzy Process Model with Estimation of Premise Variables. // CD-ROM Proceedings of the 2002 IEEE International Symposium on Industrial Electronics, L'Aquila, 2002., str. 477-482.
  26. Petrović, I.; Brezak, M.; Cupec, R. Machine Vision Based Control of the Ball and Beam. // Proceedings of the 7th International Workshop on Advanced Motion Control, Maribor, Slovenija, 2002., str. 573-577.
  27. Cupec, R.; Lorch, O.; Schmidt, G. Object Recognition and Estimation of Camera Orientation for Walking Machines. // Tagungsband zum 17. Fachgespräch Autonome Mobile Systeme (AMS), Stuttgart, Njemačka, listopad 2001., str. 1-10.
  28. Kovačić, Z.; Cupec, R.; Bogdan, S. A Servo Positioning by Using Model Reference Adaptive Fuzzy Controller. // CD-ROM Preprints of the 1st IFAC/IEEE Symposium on System Structure and Control, 2001, log. no. 113.

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