Now showing items 1-10 of 10

    • Applying domain knowledge to slam using virtual measurements 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot’s control and sensor measurements. In structured environments, such as human environments, we might ...
    • Coordination Strategies for Multi-robot Exploration and Mapping 

      Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologySpringer Verlag, 2012-06)
      Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for this application; however, teleoperation ...
    • Effects of sensory precision on mobile robot localization and mapping 

      Rogers, John G.; Trevor, Alexander J. B.; Nieto-Granda, Carlos; Cunningham, Alexander; Paluri, Manohar; Michael, Nathan; Dellaert, Frank; Christensen, Henrik I.; Kumar, Vijay (Georgia Institute of Technology, 2010-12)
      This paper will explore the relationship between sensory accuracy and Simultaneous Localization and Mapping (SLAM) performance. As inexpensive robots are developed with commodity components, the relationship between ...
    • Feature-based mapping with grounded landmark and place labels 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2011-06)
      Service robots can benefit from maps that support their tasks and facilitate communication with humans. For efficient interaction, it is practical to be able to reference structures and objects in the environment, e.g. ...
    • Mobile Manipulation in Domestic Environments Using A Low Degree of Freedom Manipulator 

      Huckaby, Jacob; Nieto-Granda, Carlos; Rogers, John G.; Trevor, Alexander J. B.; Cosgun, Akansel; Christensen, Henrik I. (Georgia Institute of Technology, 2012)
      We present a mobile manipulation system used by the Georgia Tech team in the RoboCup@Home 2010 competition. An overview of the system is provided, including the approach taken for manipulation, SLAM, object detection, ...
    • Normalized graph-cuts for large scale visual SLAM 

      Rogers, John G.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      Simultaneous Localization and Mapping (SLAM) suffers from a quadratic space and time complexity per update step. Recent advancements have been made in approximating the posterior by forcing the information matrix to ...
    • Semantic map partitioning in indoor environments using regional analysis 

      Nieto-Granda, Carlos; Rogers, John G.; Trevor, Alexander J. B.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can ...
    • Simultaneous Localization and Mapping with Learned Object Recognition and Semantic Data Association 

      Rogers, John G.; Trevor, Alexander J.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      Complex and structured landmarks like objects have many advantages over low-level image features for semantic mapping. Low level features such as image corners suffer from occlusion boundaries, ambiguous data association, ...
    • Slam with expectation maximization for moveable object tracking 

      Rogers, John G.; Trevor, Alexander J. B.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      The goal of simultaneous localization and mapping (SLAM) is to compute the posterior distribution over landmark poses. Typically, this is made possible through the static world assumption - the landmarks remain in the same ...
    • Tables, Counters, and Shelves: Semantic Mapping of Surfaces in 3D 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2010-10)
      Semantic mapping aims to create maps that include meaningful features, both to robots and humans. We present an extension to our feature based mapping technique that includes information about the locations of horizontal ...