Now showing items 64-83 of 85

    • Reactive Tuning of Target Estimate Accuracy in Multi-Sensor Data Fusion 

      Xiong, Ning; Christensen, Henrik I.; Svensson, Per (Georgia Institute of TechnologyTaylor & Francis, 2007-01)
      Dealing with conflicting and target-specific requirements is an important issue in multi-sensor and multi-target tracking. This paper aims to allocate sensing resources among various targets in reaction to individual ...
    • Real-time 3d model-based tracking using edge and keypoint features for robotic manipulation 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      We propose a combined approach for 3D real-time object recognition and tracking, which is directly applicable to robotic manipulation. We use keypoints features for the initial pose estimation. This pose estimate serves ...
    • A realistic benchmark for visual indoor place recognition 

      Pronobis, A.; Caputo, B.; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyElsevier, 2009-08)
      An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Recent advances in ...
    • Robots in the Wild: Understanding Long-term Use 

      Sung, Ja-Young; Christensen, Henrik I.; Grinter, Rebecca E. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009-03)
      It has long been recognized that novelty effects exist in the interaction with technologies. Despite this recognition, we still know little about the novelty effects associated with domestic robotic appliances and more ...
    • Robust 3D visual tracking using particle filtering on the SE(3) group 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      In this paper, we present a 3D model-based object tracking approach using edge and keypoint features in a particle filtering framework. Edge points provide 1D information for pose estimation and it is natural to consider ...
    • Robust 3D Visual Tracking Using Particle Filtering on the Special Euclidean Group: A Combined Approach of Keypoint and Edge Features 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologySAGE Publications, 2012-03-07)
      We present a 3D model-based visual tracking approach using edge and keypoint features in a particle filtering framework. Recently, particle filtering based approaches have been proposed to integrate multiple pose hypotheses ...
    • 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 ...
    • Sensing and estimation 

      Christensen, Henrik; Hager, G. (Georgia Institute of TechnologySpringer Verlag, 2008-05)
    • SIFT Based Graphical SLAM on a Packbot 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologySpringer Verlag, 2008-03)
      We present an implementation of Simultaneous Localization and Mapping (SLAM) that uses infrared (IR) camera images collected at 10 Hz from a Packbot robot. The Packbot has a number of challenging characteristics with ...
    • 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, ...
    • Sketching the future: Assessing user needs for domestic robots 

      Sung, Ja-Young; Grinter, Rebecca E.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-09)
      In this paper, we discuss a user-centered vision of future domestic robots based on 48 householders' depiction of their ideal home robots. Through users' creative responses, we aim to identify domestic tasks desired for ...
    • SLAM using Visual Scan-Matching with Distinguishable 3D Points 

      Bertolli, Federico; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      Scan-matching based on data from a laser scanner is frequently used for mapping and localization. This paper presents an scan-matching approach based instead on visual information from a stereo system. The Scale Invariant ...
    • 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 ...
    • Teleoperation for a Ballcatching Task with Significant Dynamics 

      Smith, Christian; Bratt, Mattias; Christensen, Henrik I. (Georgia Institute of TechnologyElsevier, 2008-05)
      In this paper we present ongoing work on how to incorporate human motion models into the design of a high performance teleoperation platform. A short description of human motion models used for ballcatching is followed ...
    • Topological Modelling for Human Augmented Mapping 

      Topp, Elin A.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is ...
    • Towards robust place recognition for robot localization 

      Ullah, M. M.; Pronobis, A.; Caputo, B.; Luo, J.; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Localization and context interpretation are two key competences for mobile robot systems. Visual place recognition, as opposed to purely geometrical models, holds promise of higher flexibility and association of semantics ...
    • Trust Modeling in Multi-Robot Patrolling 

      Pippin, Charles; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. The multi-robot patrolling task is an example of a domain that is particularly sensitive to ...
    • Using COTS to Construct a High Performance Robot Arm 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-04)
      In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation ...
    • Visual Place Categorization: Problem, Dataset, and Algorithm 

      Wu, Jianxin; Rehg, James M.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In this paper we describe the problem of Visual Place Categorization (VPC) for mobile robotics, which involves predicting the semantic category of a place from image measurements acquired from an autonomous platform. ...