• Detecting region transitions for human-augmented mapping 

      Christensen, Henrik I.; Topp, Elin A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-08)
      In this paper, we describe a concise method for the feature-based representation of regions in an indoor environment and show how it can also be applied for door-passage-independent detection of transitions between ...
    • 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, ...
    • 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 ...