Now showing items 1-12 of 12

    • Bringing Together Human and Robotic Environment Representations – A Pilot Study 

      Topp, Elin A.; Hüttenrauch, Helge; Christensen, Henrik I.; Eklundh, Kerstin Severinson (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      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 ...
    • Closing the Loop with Graphical SLAM 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-08)
      The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination ...
    • Control of mobile manipulator using the dynamical systems approach 

      Ellekilde, Lars-Peter; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. ...
    • Design of an Office-Guide Robot for Social Interaction Studies 

      Pacchierotti, Elena; Christensen, Henrik I.; Jensfelt, Patric (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      In this paper, the design of an office-guide robot for social interaction studies is presented. We are interested in studying the impact of passage behaviours in casual encounters. While the system offers assistance in ...
    • A Discriminative Approach to Robust Visual Place Recognition 

      Pronobis, A.; Caputo, B.; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      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. Usually localization ...
    • Evaluation of Passing Distance for Social Robots 

      Pacchierotti, Elena; Christensen, Henrik I.; Jensfelt, Patric (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-09)
      Casual encounters with mobile robots for nonexperts can be a challenge due to lack of an interaction model. The present work is based on the rules from proxemics which are used to design a passing strategy. In narrow ...
    • Long-Term Study of a Portable Field Robot in Urban Terrain 

      Lundberg, Carl; Christensen, Henrik I.; Reinhold, Roger (Georgia Institute of TechnologyJohn Wiley & Sons, 2007-09)
      The armed forces have a considerable amount of experience in using robots for bomb removal and mine clearing. Emerging technology also enables the targeting of other applications. To evaluate if real deployment of new ...
    • The M-Space Feature Representation for SLAM 

      Folkesson, John; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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. ...