In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic ...

We present an efficient and scalable algorithm for segmenting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based approach. Our algorithm processes a moving ...

Human interaction with a service robot requires a shared representation of the environment for spoken dialogue and task specification where names used for particular locations are depending on personal preferences. A ...

Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules ...

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 ...

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. ...

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 ...

Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. ...

We present a method to analyze images taken from a passive egocentric wearable camera along with the contextual information, such as time and day of week, to learn and predict everyday activities of an individual. We ...

In this presentation we will discuss how hard automation in many cases is getting replaced by flexible automation. The ideal factory is no longer a sequence of fixed processing stations, but a swarm of heterogenous stationary ...