Ville Kyrki

Associate Professor at Aalto University School of Business

Schools

  • Aalto University School of Business

Links

Biography

Aalto University School of Business

Ville Kyrki joined School of Electrical Engineering at Aalto University as an Associate Professor in 2012. He serves as the head of the Intelligent Robotics research group. His research interests lie mainly in intelligent robotic systems and robotic vision with a particular emphasis on developing methods and systems that cope with imperfect knowledge and uncertain senses. His published research covers feature extraction and tracking in computer vision, visual servoing, tactile sensing, robotic grasping, sensor fusion (especially fusion of vision and other senses), planning under uncertainty, and machine learning related to the previous. His research has been published in numerous forums in the area, including IEEE Transactions on Robotics, International Journal of Robotics Research, IEEE Transactions on Pattern Analysis and Machine Intelligence, IEEE Transactions on Haptics, and IEEE Transactions on Image Processing.

BACKGROUND

Ville Kyrki was until 2012 a professor in computer science (intelligent robotic systems) at the Department of Information Technology, Lappeenranta University of Technology, Finland, heading the Machine Vision and Pattern Recognition laboratory. He earned his M.Sc. and Ph.D. degrees in Computer Science at Lappeenranta University of Technology in 1999 and 2002, respectively. His doctoral thesis was in the area of computer vision.

CURRICULUM VITAE

Scientific boards and societies

Ville serves in the Conference Editorial Board of IEEE Robotics and Automation Society (RAS) and in the Governing Board of Finnish Robotics Society. He is the founding chair of the IEEE Finland Joint Chapter of Control Systems, Robotics & Automation, and Systems, Man, and Cybernetics Societies, and served IEEE Finland Section as a Treasurer 2012-2013. During 2008-2013, Ville was a chair of the Computer & Robot Vision Technical Committee of the IEEE Robotics & Automation Society (RAS) and a member of the RAS Technical Activities Board.

Research projects

Ville has lead several major national and international research projects, including RECONFIG (Cognitive, Decentralized Coordination of Heterogeneous Multi-Robot Systems via Reconfigurable Task Planning, EU FP7, PI), Multi-Modal Programming by Demonstration for Natural and Flexible Automation, (2013–2015, Academy of Finland, PI), Symbol Grounding from Uncertain Measurements (2012–2015, Academy of Finland, PI), GRASP (Emergence of Cognitive Grasping Through Emulation, Introspection and Surprise, 2008–2012, EU FP7, PI), Multisensor tracking and mapping (2007–2009, Academy of Finland, PI), TACVISION (Integration of visual and tactile information in robotics, 2005–2009, Finnish Funding Agency for Technology and Innovation, co-PI, and Active Computer Vision for Visual Servoing, 2003–2004, Academy of Finland, PI).

Other selected scientific activities

  • Associate Editor for IEEE Transactions on Robotics.
  • Organization of workshops/special sessions in conferences: 2 workshops and a tutorial at IEEE ICRA, 2 special sessions.
  • Associate editor/Program committee member in more than 10 conferences: For example, ICRA, IROS, RSS, ICANN, ICPR.
  • Reviewer of research proposals: Czech Science Foundation, Research Council of K. U. Leuven, Israel Science Foundation, Swiss National Science Foundation.
  • Reviewer of research projects: European Commission.
  • Reviewer for more than 10 peer-reviewed scientific journals and more than 10 conferences: For example, IEEE Transactions on Robotics, International Journal of Robotics Research, IEEE Transactions on Haptics, IEEE Transactions on Pattern Analysis and Machine Intelligence, IEEE Transactions on Image Processing.
  • Expert for Academy of Finland: “The state and Quality of Scientific Research in Finland 2012” review.

Peer-reviewed scientific articles

Journal article-refereed, Original research

Robotic manipulation of multiple objects as a POMDP

Pajarinen, Joni; Kyrki, Ville
2017 in ARTIFICIAL INTELLIGENCE (ELSEVIER SCIENCE BV)
ISSN: 0004-3702

Category-based task specific grasping

Nikandrova, Ekaterina; Kyrki, Ville
2015 in Robotics and Autonomous Systems (Elsevier)
ISSN: 0921-8890

Online Motion Synthesis Using Sequential Monte Carlo

Hämäläinen, Perttu; Eriksson, Sebastian; Tanskanen, Esa; Kyrki, Ville; Lehtinen, Jaakko
2014 in ACM Transactions on Graphics (Association for Computing Machinery (ACM))
ISSN: 0730-0301

Three-dimensional Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing

Ilonen, Jarmo; Bohg, Jeannette; Kyrki, Ville
2014 in INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (SAGE Publications Inc.)
ISSN: 0278-3649

Towards informative sensor-based grasp planning

Nikandrova, Ekaterina; Laaksonen, Jonna; Kyrki, Ville
2014 in Robotics and Autonomous Systems (Elsevier)
ISSN: 0921-8890

Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks

Felip, J.; Laaksonen, J.; Morales, A.; Kyrki, Ville
2013 in Robotics and Autonomous Systems (Elsevier)
ISSN: 0921-8890

Assessing grasp stability based on learning and haptic data

Bekiroglu, Yasemin; Laaksonen, Janne; Jørgensen, Jimmy Alison; Kyrki, Ville; Kragic, Danica
2011 in IEEE TRANSACTIONS ON ROBOTICS (Institute of Electrical and Electronics Engineers Inc.)
ISSN: 1552-3098

Tracking rigid objects using integration of model-based and model-free cues

Kyrki, Ville; Kragic, Danica
2011 in MACHINE VISION AND APPLICATIONS (Springer Verlag)
ISSN: 0932-8092

Computer and robot vision

Kyrki, Ville; Kragic, Danica
2011 in IEEE ROBOTICS AND AUTOMATION MAGAZINE (Institute of Electrical and Electronics Engineers Inc.)
ISSN: 1070-9932

A framework for generating tunable test functions for multimodal optimization

Rönkkönen, Jani; Li, Xiaodong; Kyrki, Ville; Lampinen, Jouni
2011 in SOFT COMPUTING (Springer Verlag)
ISSN: 1432-7643

Visual measurement and tracking in laser hybrid welding

Fennander, Henri; Kyrki, Ville; Fellman, Anna; Salminen, Antti; Kälviäinen, Heikki
2009 in MACHINE VISION AND APPLICATIONS (Springer Verlag)
ISSN: 0932-8092

Optimal reconstruction of approximate planar surfaces using photometric stereo

Kuparinen, Toni; Kyrki, Ville
2009 in IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE (IEEE COMPUTER SOC)
ISSN: 0162-8828

Lecture Notes in Electrical Engineering Preface

Kragic, Danica; Kyrki, Ville
2008 in LECTURE NOTES IN ELECTRICAL ENGINEERING (Springer Verlag)
ISSN: 1876-1100

Localization in ambiguous environments using multiple weak cues

Laaksonen, Janne; Kyrki, Ville
2008 in INTELLIGENT SERVICE ROBOTICS (Springer Verlag)
ISSN: 1861-2776

Simple Gabor feature space for invariant object recognition

Kyrki, Ville; Kamarainen, Joni Kristian; Kälviäinen, Heikki
2004 in PATTERN RECOGNITION LETTERS (Elsevier)
ISSN: 0167-8655

Content-based matching of line-drawing images using the Hough transform

Fränti, Pasi; Mednonogov, Alexey; Kyrki, Ville; Kälviäinen, Heikki
2000 in INTERNATIONAL JOURNAL ON DOCUMENT ANALYSIS AND RECOGNITION (Springer Verlag)
ISSN: 1433-2833

Book section, Chapters in research books

Explorative Sensor-Based Grasp Planning

Nikandrova, Ekaterina; Laaksonen, Janne; Kyrki, Ville
2012
ISBN: 978-3-642-32526-7

Conference proceedings

An Avoidance Control Strategy for Joint-Position Limits of Dual-Arm Robots

Foresi, G.; Freddi, A.; Kyrki, V.; Monteriù, A.; Muthusamy, R.; Ortenzi, D.; Pagnotta, D. Proietti
2017 in IFAC-PapersOnLine (Elsevier)
ISSN: 2405-8963

Reinforcement learning for improving imitated in-contact skills

Hazara, Murtaza; Kyrki, Ville
2017 in IEEE-RAS International Conference on Humanoid Robots (IEEE COMPUTER SOCIETY PRESS)
ISBN: 978-1-5090-4718-5
ISSN: 2164-0572

Temporal Arm Tracking and Probabilistic Pointed Object Selection for Robot to Robot Interaction using Deictic Gestures

Kontaxakis, Polychronis; Gulzar, Khurram; Kyrki, Ville
2017 in IEEE-RAS International Conference on Humanoid Robots (Institute of Electrical and Electronics Engineers Inc.)
ISBN: 978-1-5090-4718-5
ISSN: 2164-0572

Generalizing Movement Primitives to New Situations

Lundell, Jens; Hazara, Murtaza; Kyrki, Ville
2017 in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (SPRINGER)
ISBN: 978-3-319-64106-5
ISSN: 0302-9743

Human-aware interaction A memory-inspired artificial cognitive architecture

Pieters, Roel; Racca, Mattia; Veronese, Andrea; Kyrki, Ville
2017 in CEUR workshop proceedings (CEUR-WS)
ISSN: 1613-0073

Physical rehabilitation exercises assessment based on Hidden Semi-Markov Model by Kinect v2

Capecci, M.; Ceravolo, M. G.; Ferracuti, F.; Iarlori, S.; Kyrki, V.; Longhi, S.; Romeo, L.; Verdini, F.
2016
ISBN: 978-1-5090-2455-1

Benchmarking RGB-D Segmentation: Toy Dataset of Complex Crowded Scenes

Ikkala, Aleksi; Pajarinen, Joni; Kyrki, Ville
2016
ISBN: 978-989-758-175-5

Sparse latent space policy search

Luck, Kevin Sebastian; Pajarinen, Joni; Berger, Erik; Kyrki, Ville; Amor, Heni Ben
2016 in Proceedings of the AAAI Conference on Artificial Intelligence (AAAI PRESS)
ISBN: 9781577357605
ISSN: 2159-5399

Learning in-contact control strategies from demonstration

Racca, Mattia; Pajarinen, Joni; Montebelli, Alberto; Kyrki, Ville
2016 in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (Institute of Electrical and Electronics Engineers Inc.)
ISBN: 9781509037629
ISSN: 2153-0858

Sampled Differential Dynamic Programming

Rajamäki, Joose; Naderi, Kourosh; Kyrki, Ville; Hämäläinen, Perttu
2016
ISBN: 978-1-5090-3763-6

Grasp envelopes Extracting constraints on gripper postures from online reconstructed 3D models

Stoyanov, Todor; Krug, Robert; Muthusamy, Rajkumar; Kyrki, Ville
2016 in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (Institute of Electrical and Electronics Engineers Inc.)
ISBN: 9781509037629
ISSN: 2153-0858

Learning compliant assembly motions from demonstration

Suomalainen, Markku; Kyrki, Ville
2016 in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (Institute of Electrical and Electronics Engineers Inc.)
ISBN: 9781509037629
ISSN: 2153-0858

Learning movement synchronization in multi-component robotic systems

Thabet, Mohammad; Montebelli, Alberto; Kyrki, Ville
2016
ISBN: 9781467380263

Incrementally assisted kinesthetic teaching for programming by demonstration

Tykal, Martin; Montebelli, Alberto; Kyrki, Ville
2016
ISBN: 9781467383707

See what I mean - Probabilistic optimization of robot pointing gestures

Gulzar, Khurram; Kyrki, Ville
2015
ISBN: 9781479968855

Image compression using derivative information with Distance Transforms

Ikonen, Leena; Kyrki, Ville; Toivanen, Pekka J.; Kälviäinen, Heikki
2015
ISBN: 978-952-1504-43-3

Task-specific grasping of similar objects by probabilistic fusion of vision and tactile measurements

Kolycheva (née Nikandrova), Ekaterina; Kyrki, Ville
2015
ISBN: 9781479968855

On handing down our tools to robots Single-phase kinesthetic teaching for dynamic in-contact tasks

Montebelli, Alberto; Steinmetz, Franz; Kyrki, Ville
2015
ISBN: 978-1-4799-6922-7
ISSN: 2152-4092

Task specific cooperative grasp planning for decentralized multi-robot systems

Muthusamy, Rajkumar; Bechlioulis, Charalampos P.; Kyriakopoulos, Kostas J.; Kyrki, Ville
2015
ISBN: 978-1-4799-6922-7
ISSN: 2152-4092

Decision making under uncertain segmentations

Pajarinen, Joni; Kyrki, Ville
2015
ISBN: 978-1-4799-6922-7
ISSN: 2152-4092

Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks

Steinmetz, Franz; Montebelli, Alberto; Kyrki, Ville
2015
ISBN: 9781479968855

Holding hands - Guiding humanoid walking using sensorless force control

Dąbrowski, Jacek; Kondaxakis, Polychronis; Kyrki, Ville
2014
ISBN: 9781479967636

Real-Time Recognition of Pointing Gestures for Robot to Robot Interaction

Kondaxakis, Polychronis; Pajarinen, Joni; Kyrki, Ville
2014

Decentralized Approaches for Cooperative Grasp Planning

Muthusamy, Rajkumar; Kyrki, Ville
2014 in International Conference on Control Automation Robotics and Vision (IEEE/RSJ)
ISBN: 978-1-4799-5199-4
ISSN: 2474-2953

Robotic manipulation in object composition space

Pajarinen, Joni; Kyrki, Ville
2014

Fusing visual and tactile sensing for 3-D object reconstruction while grasping

Ilonen, Jarmo; Bohg, Jeannette; Kyrki, Ville
2013
ISBN: 978-1-4673-5642-8

Simulation-Based Risk Assessment of Robot Fleets in Flooded Environments

Myrsky, Matthieu; Nikula, Heikki; Sierla, Seppo; Saarinen, Jari; Papakonstantinou, Nikolaos; "O'Halloran", Bryan; Kyrki, Ville
2013

Probabilistic sensor-based grasping

Laaksonen, Jonna; Nikandrova, Ekaterina; Kyrki, Ville
2012 in IEEE International Conference on Intelligent Robots and Systems (IEEE)
ISBN: 978-1-4673-1735-1
ISSN: 2153-0858

What do contacts tell about an object?

Nikandrova, Ekaterina; Kyrki, Ville
2012 in Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (IEEE)
ISBN: 9781457711992
ISSN: 2155-1782

Learning continuous grasp stability for a humanoid robot hand based on tactile sensing

Schill, J.; Laaksonen, J.; Przybylski, M.; Kyrki, V.; Asfour, T.; Dillmann, R.
2012
ISBN: 9781457711992

Detection of parametrized 3-D primitives from stereo for robotic grasping

Gallardo, Laura Fernandez; Kyrki, Ville
2011
ISBN: 9781457711589

Robust robot-camera calibration

Ilonen, J.; Kyrki, V.
2011
ISBN: 9781457711589

Usability of force-based controllers in physical human-robot interaction

Infante, Marta Lopez; Kyrki, Ville
2011
ISBN: 9781450305617

Learning grasp stability based on tactile data and HMMs

Bekiroglu, Yasemin; Kragic, Danica; Kyrki, Ville
2010
ISBN: 9781424479917

Embodiment independent manipulation through action abstraction

Laaksonen, Janne; Felip, Javier; Morales, Antonio; Kyrki, Ville
2010
ISBN: 9781424450381

Evaluation of feature representation and machine learning methods in grasp stability learning

Laaksonen, Janne; Kyrki, Ville; Kragic, Danica
2010
ISBN: 9781424486885

Learning task constraints for robot grasping using graphical models

Song, D.; Huebner, K.; Kyrki, V.; Kragic, D.
2010
ISBN: 9781424466757

Learning task constraints in robot grasping

Song, Dan; Huebner, Kai; Kyrki, Ville; Kragic, Danica
2010

Online trajectory following with position based force/vision control

Alkkiomäki, Olli; Kyrki, Ville; Kälviäinen, Heikki; Liu, Yong; Handroos, Heikki
2009
ISBN: 9781424448555

Multi-modal force/vision sensor fusion in 6-DOF pose tracking

Alkkiomäki, Olli; Kyrki, Ville; Liu, Yong; Handroos, Heikki; Kälviäinen, Heikki
2009
ISBN: 9781424448555

On surface topography reconstruction from gradient fields

Kuparinen, Toni; Kyrki, Ville; Mielikainen, Jarno; Toivanen, Pekka
2007
ISBN: 1424414377

Tracking of a moving target by combination of force/velocity control based on vision for a hydraulic manipulator

Liu, Y.; Handroos, H.; Alkkiomäki, O.; Kyrki, V.; Kälviäinen, H.
2007
ISBN: 1424408288

Bearing damage detection based on statistical discrimination of stator current

Lindh, T.; Ahola, J.; Kamarainen, Joni-Kristian; Kyrki, V.; Partanen, J.
2003
ISBN: 0780378385

Noise tolerant object recognition using Gabor filtering

Kamarainen, Joni Kristian; Kyrki, Ville; Kälviäinen, Heikki
2002
ISBN: 0780375033

Fundamental frequency Gabor filters for object recognition

Kamarainen, Joni; Kyrki, Ville; Kälviäinen, Heikki
2002 in International Conference on Pattern Recognition (IEEE)
ISSN: 1051-4651

Parallel image processing for line detection in shared-memory and distributed environments

Kyrki, Ville; Ikonen, Jouni; Porras, Jari; Kalviainen, Heikki
2000

Non-refereed scientific articles

Unrefereed conference proceedings

Active Information Gathering for Task Modeling in HRI

Racca, Mattia; Pieters, Roel; Kyrki, Ville
2017

Imitation learning for in-contact tasks

Racca, Mattia; Kyrki, Ville
2016

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