Annette Stahl

Associate Professor (Onsager Fellow)

Department of Engineering Cybernetics Faculty of Information Technology and Electrical Engineering

annette.stahl@ntnu.no +47 73594369

Elektro D/B2, 339, Gløshaugen, O. S. Bragstads plass 2D, NO-7034 Trondheim

annette.stahl@ntnu.no

Annette Stahl is an Associate Professor at the Department of Engineering Cybernetics, an Affiliated Scientist of the Centre of Excellence - NTNU AMOS, and a Researcher at the Centre for Research-based Innovation (SFI) AutoShip. She is Head of the Robotc Vision Group and PI of the Research Council of Norway funded AILARON project. She has a PhD in Applied Mathematics - Computer Vision from Heidelberg University, Germany.

Research Interests

Robotic, computer and machine vision
Control theory, robotics, autonomous vehicles
Mathematical image analysis
Motion estimation, variational methods, partial differential equations
Object recognition
Multi-view reconstruction
Visual SLAM
Statistical shape analysis
Machine learning
Virtual reality
Isogeometric analysis, visualization
High perfomance computing

Supervision

Postdoctoral fellows:

Aya Saad funded by the Research Council of Norway (FRINATEK/IKTPLUSS)

PhD-candidates:

Main supervisor:

Emil Martens (integrated PhD), funded by the Research Council of Norway - SFI AUTOSHIP
Jan Henrik Jahren, funded by SINTEF OCEAN - RACE
Mauhing Yip, funded by the Research Council of Norway (KPN MAROFF) - AROS project
Michael Ernesto Lopez, funded by the Research Council of Norway (KPN MAROFF) - AUTOSIT project
Jonatan Dyrstad funded by the Research Council of Norway (FRINATEK/IKTPLUSS) - Neodroit project
Trym Haavardsholm funded by FFI
Simen Haugo funded by NTNU
Marco Leonardi funded by NTNU

Co-advisor:

Andreas Langeland Teigen, Underwater SLAM (AROS), Main supervisor: Rudolf Mester, IDI
Andreas Våge, Autonomous Robotic Exploration of PlanktonicTaxa (AILARON), Main supervisor: Anastasios Lekkas
Øystein Volden, Real-Time Encryption of Computer Vision Feedback Control Systems for Autonomous Ships Main supervisor: Thor Inge Fossen
Øystein Kaarlsen Helgesen, Sensor Fusion and Situational Awareness for autonomous urban ferries in the Autoferry project: Main supervisor: Edmund Brekke
Lars-Christian Tokle, Sensor fusion for autonomous ferry, Main supervisor: Edmund Brekke

Master students:

2021/2022: 9 Master students
2020/2021: 8 Master students
2019/2020: 10 Master students
2018/2019: 13 Master students
2017/2018: 5 Master students
2016/2017: 7 Master students

Alumni:

Joseph Garrett (ERCIM fellow), Postdoctoral fellow

Projects

AILARON - Autonomous Imaging and Learning Ai RObot identifying plaNkton taxa in-situ, (RCN FRINATEK/IKTPLUSS)
AROS - Autonomous Robots for Ocean Sustainability (RCN IKTPLUSS)
Deteksjon av person i elva basert på infrarød sensor, maskinlæring og automatisk bildebehandling (RFFTRØNDELAG), in collaboration with Zebop AS
SFI AutoShip: Autonomous Ships for Safe and Sustainable Operations (RCN SFI)
AUTOSIT - Autonomous Ships, Intentions and Situational Awareness (RCN KPN MAROFF)
INDISAL - Enabling technology for identification of individual salmon in
commercial fish-cages (RCN HAVBRUK2), In collaboration with SINTEF Ocean
NEODROID Creating a reality-ready robot brain in virtual reality (RCN FRINATEK/IKTPLUSS), in collaboration with SINTEF Ocean
CageReporter Development of technology for autonomous, bio-interactive and high-quality data acquisition in Aquaculture sea cages (RCN IPN), in collaboration with SINTEF Ocean

News

A robotic microplankton sniffer-dog (May 2021) https://norwegianscitechnews.com/2021/05/a-robotic-microplankton-sniffer-dog/
iLaks article (Oct 2016): Droner ser sykdom på fisk og hull i noter

http://ilaks.no/droner-ser-sykdom-pa-fisk-og-hull-i-noter/

Gemini article (Aug 2016): Robotic Vision helps detect diseases and keep fish healthy

http://gemini.no/en/2016/08/robot-vision-helps-detect-diseases-and-keep-fish-healthy/

https://www.sintef.no/en/latest-news/robot-vision-helps-detect-diseases-and-keep-fish-h/

Gemini article (Aug 2016): Robotsyn oppdager sykdom og gir friskere fisk

http://gemini.no/2016/08/robotsyn-oppdager-sykdom-og-gir-friskere-fisk/

http://sintef.no/siste-nytt/robotsyn-finner-sykdom-og-gir-friskere-fisk/

http://www.abcnyheter.no/livet/2016/08/12/195235012/robotsyn-finner-sykdom-og-gir-friskere-fisk

DN article (July 2016): Robotsyn gir friskere fisk

http://www.dn.no/meninger/debatt/2016/07/21/2120/Teknologi/robotsyn-gir-friskere-fisk

Scientific, academic and artistic work

Displaying a selection of activities. See all publications in the database

Journal publications

Borgersen, Jonas; Saad, Aya; Stahl, Annette. (2021) MOG: a background extraction approach for data augmentation of time-series images in deep learning segmentation. Proceedings of SPIE, the International Society for Optical Engineering.
Haug, Martin; Saad, Aya; Stahl, Annette. (2021) A combined informative and representative active learning approach for plankton taxa labeling. Proceedings of SPIE, the International Society for Optical Engineering. vol. 11878.
Haug, Martin; Saad, Aya; Stahl, Annette. (2021) CIRAL: a hybrid active learning framework for plankon taxa labeling. IFAC-PapersOnLine.
Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein. (2021) Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking. IFAC-PapersOnLine.
Saad, Aya; Bergum, Sondre Aleksander; Stahl, Annette. (2021) An instance segmentation framework for in-situ plankton taxa assessment. Proceedings of SPIE, the International Society for Optical Engineering. vol. 11605.
Salvesen, Eivind; Saad, Aya; Stahl, Annette. (2021) Robust Deep Unsupervised Learning Framework to Discover Unseen Plankton Species. Proceedings of SPIE, the International Society for Optical Engineering.
Teigen, Andreas Langeland; Saad, Aya; Stahl, Annette; Mester, Rudolf. (2021) Few-Shot Open World Learner. IFAC-PapersOnLine.
Volden, Øystein; Stahl, Annette; Fossen, Thor I.. (2021) Vision-based positioning system for auto-docking of unmanned surface vehicles (USVs). The International Journal of Intelligent Robotics and Applications.
Zwilgmeyer, Peder Georg Olofsson; Yip, Mauhing; Teigen, Andreas Langeland; Mester, Rudolf; Stahl, Annette. (2021) The VAROS Synthetic Underwater Data Set: Towards realistic multi-sensor underwater data with ground truth. IEEE International Conference on Computer Vision (ICCV).
Bergum, Sondre; Saad, Aya; Stahl, Annette. (2020) Automatic in-situ instance and semantic segmentation of planktonic organisms using Mask R-CNN. OCEANS.
Fondevik, Simen Keiland; Stahl, Annette; Transeth, Aksel Andreas; Knudsen, Ole Øystein. (2020) Image Segmentation of Corrosion Damages in Industrial Inspections. Proceedings - International Conference on Tools with Artificial Intelligence (ICTAI).
Haavardsholm, Trym Vegard; Skauli, Torbjørn; Stahl, Annette. (2020) Multimodal Multispectral Imaging System for Small UAVs. IEEE Robotics and Automation Letters. vol. 5 (2).
Saad, Aya; Stahl, Annette; Våge, Andreas; Davies, Emlyn John; Nordam, Tor; Aberle-Malzahn, Nicole; Ludvigsen, Martin; Johnsen, Geir; Sousa, João; Rajan, Kanna. (2020) Advancing Ocean Observation with an AI-driven Mobile Robotic Explorer. Oceanography. vol. 33 (3).
Salvesen, Eivind; Saad, Aya; Stahl, Annette. (2020) Robust methods of unsupervised clustering to discover new planktonic species in-situ. OCEANS.
Teigen, Andreas; Saad, Aya; Stahl, Annette. (2020) Leveraging Similarity Metrics to In-Situ Discover Planktonic Interspecies Variations or Mutations. OCEANS.
Henriksen, Marie Bøe; Garrett, Joseph; Prentice, Elizabeth Frances; Stahl, Annette; Johansen, Tor Arne; Sigernes, Fred. (2019) Real-time Corrections for a Low-cost Hyperspectral Instrument. Workshop on Hyperspectral Image and Signal Processing, Evolution in Remote Sensing. vol. 2019-September.
Lien, Andreas Myskja; Schellewald, Christian; Stahl, Annette; Frank, Kevin; Skøien, Kristoffer Rist; Tjølsen, Jan Inge. (2019) Determining spatial feed distribution in sea cage aquaculture using an aerial camera platform. Aquacultural Engineering. vol. 87:102018.
Dyrstad, Jonatan Sjølund; Øye, Elling Ruud; Stahl, Annette; Mathiassen, John Reidar Bartle. (2018) Teaching a robot to grasp real fish by imitation learning from a human supervisor in virtual reality. IEEE International Conference on Intelligent Robots and Systems. Proceedings.
Føre, Martin; Frank, Kevin; Norton, Tomas; Svendsen, Eirik; Alfredsen, Jo Arve; Dempster, Timothy David; Eguiraun, Harkaitz; Watson, Win; Stahl, Annette; Sunde, Leif Magne; Schellewald, Christian; Skøien, Kristoffer Rist; Alver, Morten; Berckmans, Daniel. (2017) Precision fish farming: A new framework to improve production in aquaculture. Biosystems Engineering. vol. 173.
Føre, Martin; Svendsen, Eirik; Frank, Kevin; Schellewald, Christian; Sunde, Leif Magne; Stahl, Annette; Alfredsen, Jo Arve. (2017) LAKSIT:Telemetri og maskinsyn for overvåkning og dokumentasjon av fiskevelferd i avlusningsprosesser. Norsk Fiskeoppdrett. vol. 4.
Volent, Zsolt; Birkevold, Jens; Stahl, Annette; Lien, Andreas Myskja; Sunde, Leif Magne; Lader, Pål Furset. (2017) Experimental study of installation procedure and volume estimation of tarpaulin for chemical treatment of fish in floating cages. Aquacultural Engineering. vol. 78.
Jovanović, Vedran; Risojević, Vladimir; Babić, Zdenka; Svendsen, Eirik; Stahl, Annette. (2016) Splash detection in surveillance videos of offshore fish production plants. International Conference on Systems, Signals, and Image Processing. vol. 2016-June.
Stahl, Annette. (2016) Droner ser sykdom på fisk og hull i nøter. iLaks.no.
Stahl, Annette. (2016) Robot vision helps detect diseases and keep fish healthy. Gemini (English edition).
Stahl, Annette. (2016) Robotsyn finner sykdom og gir friskere fisk. Gemini.
Stahl, Annette; Kvamsdal, Trond; Schellewald, Christian. (2016) Post-processing and visualization techniques for isogeometric analysis results. Computer Methods in Applied Mechanics and Engineering. vol. 316.
Stahl, Annette; Schellewald, Christian; Stavdahl, Øyvind; Aamo, Ole Morten; Adde, Lars; Kirkerød, Harald. (2012) An Optical Flow-Based Method to Predict Infantile Cerebral Palsy. IEEE transactions on neural systems and rehabilitation engineering. vol. 20 (4).
Ruhnau, Paul; Stahl, Annette; Schnoerr, Christoph. (2007) Variational Estimation of Experimental Fluid Flows with Physics-Based Spatio-Temporal Regularization. Measurement Science and Technology. vol. 18.

Part of book/report

Haugo, Simen; Stahl, Annette. (2020) Iterative Closest Point with Minimal Free Space Constraints. Advances in Visual Computing.
Haugo, Simen; Stahl, Annette. (2020) Minimal Free Space Constraints for Implicit Distance Bounds. Advances in Visual Computing.
Skjellaug, Even; Brekke, Edmund Førland; Stahl, Annette. (2020) Feature-Based Laser Odometry for Autonomous Surface Vehicles utilizing the Point Cloud Library. 2020 IEEE 23rd International Conference on Information Fusion (FUSION).
Holm, Egil; Transeth, Aksel Andreas; Knudsen, Ole Øystein; Stahl, Annette. (2019) Classification of corrosion and coating damages on bridge constructions from images using convolutional neural networks. PROCEEDINGS VOLUME 11433 Twelfth International Conference on Machine Vision (ICMV 2019).
Dahlin Rodin, Christopher; Stahl, Annette; Johansen, Tor Arne. (2018) Skyline Based Camera Attitude Estimation Using a Digital Surface Model. Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018).
Leonardi, Marco; Stahl, Annette. (2018) Convolutional Autoencoder aided loop closure detection for monocular SLAM. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018.
Leonardi, Marco; Stahl, Annette. (2017) Vision based obstacle avoidance and motion tracking for autonomous behaviors in underwater vehicles. Proceedings of the IEEE OCEANS 2017.
Duda, Alexander; Schwendner, Jakob; Stahl, Annette; Rundtop, Per. (2015) Visual pose estimation for autonomous inspection of fish pens. OCEANS 2015 - Genova.
Stahl, Annette; Aamo, Ole Morten. (2011) A new Framework for Motion Estimation in Image Sequences using Optimal Flow Control. Informatics in Control, Automation and Robotics Revised and Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2010.
Stahl, Annette; Kvamsdal, Trond. (2011) B-Spline Approximation for Visualisation of Isogeometric Analysis Results. MekIT'11: Sixth National Conference on Computational Mechanics, Trondheim 23-24 May 2011.
Stahl, Annette; Aamo, Ole Morten. (2010) Image motion estimation using optimal flow control. Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics; Volume 3.

Report/dissertation

Føre, Martin; Frank, Kevin; Svendsen, Eirik; Schellewald, Christian; Sunde, Leif Magne; Alfredsen, Jo Arve; Stahl, Annette. (2017) Telemetri og maskinsyn for overvåking av trender i tilstander hos laks før, under og etter avlusning Prosjektrapport for prosjektet "Teknologi for nye datatyper og informasjon som beskriver situasjon og tilstand hos laksefisk i kommersielle merder (LAKSIT)" FHF Pnr. 901184. 2017.
Volent, Zsolt; Birkevold, Jens; Stahl, Annette; Lien, Andreas Myskja; Sunde, Leif Magne. (2015) Modellforsøk med dukbasert avlusing. Beskrivelse av gjennomføringen og resultater fra modellforsøk i Hirtshals, juni 2014 for FHF. 2015. ISBN 978-82-14-05870-3.
Volent, Zsolt; Birkevold, Jens; Stahl, Annette. (2014) Modellforsøk med dukbasert avlusing Beskrivelse av gjennomføringen av modellforsøk i Hirtshals - Foreløpig rapport. 2014. ISBN 978-82-14-05772-0.
Stahl, Annette. (2009) PhD-Thesis: Dynamic Variational Motion Estimation and Video Inpainting with Physical Priors. 2009.
Stahl, Annette. (2003) Master Thesis: Data-dependent Triangulation and Surface Simplification - Staatsexamensarbeit: Datenabhaengige Triangulierung und Oberflaechenvereinfachung. 2003.

Others

Leonardi, Marco; Stahl, Annette. (2018) Convolution Autoencoder aided loop closure detection for monocular SLAM. IFAC CAMS 2018 ; 2018-09-10 - 2018-09-12.
Rodin, Christopher D; Stahl, Annette; Johansen, Tor Arne. (2018) Skyline Based Camera Attitude Estimation Using a Digital Surface Model. 15th Int.Workshop on Advanced Motion Control ; 2018-03-09 - 2018-03-11.
Bloecher, Nina; Føre, Martin; Frank, Kevin; Svendsen, Eirik; Schellewald, Christian; Sunde, Leif Magne; Alfredsen, Jo Arve; Stahl, Annette. (2017) Acoustic telemetry and computer vision methods for monitoring and documenting farmed fish behaviour during delousing operations. Aquaculture Europe 2017 . European Aquaculture Society; Dubrovnik. 2017-10-17 - 2017-10-20.
Haugo, Simen; Stahl, Annette; Brekke, Edmund Førland. (2017) Continuous Signed Distance Functions for 3D Vision. 2017 International Conference on 3D Vision (3DV) ; 2017-10-10 - 2017-10-12.
Leonardi, Marco; Stahl, Annette; Ludvigsen, Martin; Nornes, Stein Melvær; Gazzea, Michele; Rist-Christensen, Ida. (2017) Vision based obstacle avoidance and motion tracking for autonomous behaviors in underwater vehicles. OCEANS 2017 ; 2017-06-19 - 2017-06-22.
Frank, Kevin; Rundtop, Per; Lien, Andreas Myskja; Stahl, Annette; Malm, Morten; Tjølsen, Jan Inge. (2016) Infrastruktur og system for økt fôringskontroll i store merder. Programkonferansen HAVBRUK 2016 . Norges Forskningsråd; Bodø. 2016-04-18 - 2016-04-20.
Jovanovic, Vedran; Babic, Zdenka; Risojevic, Vladimir; Svendsen, Eirik; Stahl, Annette. (2016) Splash Detection in Surveillance Videos of Offshore Fish Production Plants. International Conference on Systems, Signals and Image Processing (IWSSIP) 2016 Bratislava . Faculty of Electrical Engineering and Information Tech.; Bratislava. 2016-05-23 - 2016-05-25.
Rundtop, Per; Stahl, Annette. (2016) Utvikling av semi-autonom ROV for notinspeksjon. Programkonferansen HAVBRUK 2016 . Norges Forskningsråd; Bodø. 2016-04-18 - 2016-04-20.
Rundtop, Per; Stahl, Annette; Frank, Kevin; Svendsen, Eirik; Bjerkeng, Magnus; Grøtli, Esten Ingar. (2016) Underwater vehicle for autonomous net inspection in salmon aquaculture. Arctic Frontiers ; 2016-01-24 - 2016-01-29.
Stahl, Annette. (2016) Ser sykdom og gir friskere fisk. Teknisk Ukeblad [Tidsskrift]. 2016-11-14.
Stahl, Annette; Schellewald, Christian; Frank, Kevin; Rundtop, Per; Svendsen, Eirik. (2016) Computer Vision Technology in Aquaculture. Aquaculture Europe 2016 ; Edinburgh. 2016-09-21 - 2016-09-23.
Svendsen, Eirik; Rundtop, Per; Bjelland, Hans Vanhauwaert; Stahl, Annette; Frank, Kevin; Grøtli, Esten Ingar. (2016) Autonomy in aquaculture - Experiences, trends and future opportunities. Conference on Autonomy 2016 . Norsk Forening for Automatisering; Sola/Stavanger. 2016-03-16 - 2016-03-17.
Duda, Alexander; Schwendner, Jakob; Stahl, Annette; Rundtop, Per. (2015) Visual Pose Estimation for Autonomous Inspection of Fish Pens. MTS/IEEE OCEANS'15 . IEEE/MTS; Genova. 2015-05-18 - 2015-05-21.
Stahl, Annette; Johannessen, Kjetil Andre; Kvamsdal, Trond. (2013) Per-Pixel Accurate Three-dimensional Visualization of adaptive Locally Refined B-Splines in Isogeometric Analysis. Advances in Computational Mechanics (ACM 2013) - A Conference Celebrating the 70th Birthday of Thomas J.R. Hughes ; San Diego, California. 2013-02-24 - 2013-02-27.
Stahl, Annette; Johannessen, Kjetil Andre; Kvamsdal, Trond. (2012) Visualization of Adaptive LR B-Splines in Isogeometric Analysis. ECCOMAS 2012, 6th EUROPEAN CONGRESS ON COMPUTATIONAL METHODS IN APPLIED SCIENCES AND ENGINEERING . University of Vienna,; Vienna. 2012-09-10 - 2012-09-14.
Stahl, Annette; Kvamsdal, Trond. (2011) B-Spline Approximation for Visualization of Isogeometric Analysis Results. MekIT’11 Sixth National Conference on Computational Mechanics . NTNU; Trondheim. 2011-05-23 - 2011-05-24.
Stahl, Annette; Aamo, Ole Morten. (2010) Image motion estimation using optimal flow control. 7th International Conference on Informatics in Control, Automation and Robotics ; 2010-06-15 - 2010-06-18.
Ruhnau, Paul; Stahl, Annette; Schnoerr, Christoph. (2006) On-Line Variational Estimation of Dynamical Fluid Flows with Physics-Based Spatio-Temporal Regularization. DAGM 2006, 28th Annual Symposium of the German Association for Pattern Recognition ; Berlin. 2006-09-12 - 2006-09-14.
Stahl, Annette; Ruhnau, Paul; Schnoerr, Christoph. (2006) A Distributed-Parameter Approach to Dynamic Image Motion. 9th European Conference on Computer Vision ECCV 2006, Int. Workshop: Representation and Use of Prior Knowledge in Vision ; Graz. 2006-05-07 - 2006-05-13.

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