Now showing items 1-20 of 24

    • 3D Pose Estimation of Daily Objects Using an RGB-D Camera 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we present an object pose estimation algorithm exploiting both depth and color information. While many approaches assume that a target region is cleanly segmented from background, our approach does not rely ...
    • 3D Textureless Object Detection and Tracking: An Edge-based Approach 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      This paper presents an approach to textureless object detection and tracking of the 3D pose. Our detection and tracking schemes are coherently integrated in a particle filtering framework on the special Euclidean group, ...
    • Cooperation based Dynamic Team Formation in Multi-Agent Auctions 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySociety of Photo-Optical Instrumentation Engineers (SPIE), 2012-05)
      Auction based methods are often used to perform distributed task allocation on multi-agent teams. Many existing approaches to auctions assume fully cooperative team members. On in-situ and dynamically formed teams, reciprocal ...
    • 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 ...
    • Dynamic, cooperative multi-robot pa trolling with a team of UAVs 

      Pippin, Charles, E.; Christensen, Henrik I.; Weiss, Lora G. (Georgia Institute of TechnologySociety of Photo-Optical Instrumentation Engineers (SPIE), 2013)
      The multi-robot patrolling task has practical relevance in surveillance, search and rescue, and security applications. In this task, a team of robots must repeatedly visit areas in the environment, minimizing the time ...
    • 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. ...
    • Housewives or technophiles?: understanding domestic robot owners 

      Sung, Ja-Young; Grinter, Rebecca E.; Christensen, Henrik; Guo, Lan (Georgia Institute of TechnologyAssociation for Computing Machinery, 2008-03)
      Despite the growing body of Human-Robot Interaction (HRI) research focused on domestic robots, surprisingly little is known about the demographic profile of robot owners and their influence on usage patterns. In this paper, ...
    • Incentive based cooperation in multi-agent auctions 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-03)
      Market or auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents are willing to cooperate and can be trusted to perform ...
    • Information-based Reduced Landmark SLAM 

      Choudhary, Siddharth; Indelman, Vadim; Christensen, Henrik I.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      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 ...
    • Learning task performance in market-based task allocation 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySpringer-Verlag, 2012-06)
      Auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents can be trusted to effectively perform assigned tasks. However, ...
    • Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics 

      Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (Georgia Institute of TechnologySpringer Verlag, 2012-06)
      This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate ...
    • My roomba is rambo: Intimate home appliances 

      Sung, Ja-Young; Guo, Lan; Grinter, Rebecca E.; Christensen, Henrik (Georgia Institute of TechnologySpringer Verlag, 2007-09)
      Robots have entered our domestic lives, but yet, little is known about their impact on the home. This paper takes steps towards addressing this omission, by reporting results from an empirical study of iRobot’s Roomba™, a ...
    • Performance based monitoring using statistical control charts on multi-robot teams 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. However, reliable performance of team members may not always be a valid assumption. For instance, ...
    • Performance based task assignment in multi- robot patrolling 

      Pippin, Charles, E.; Christensen, Henrik I.; Weiss, Lora G. (Georgia Institute of TechnologyACM, 2013)
      This article applies a performance metric to the multi-robot patrolling task to more efficiently distribute patrol areas among robot team members. The multi-robot patrolling task employs multiple robots to perform frequent ...
    • Pimp my Roomba: designing for personalization 

      Sung, Ja-Young; Grinter, Rebecca E.; Christensen, Henrik (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009-04)
      We present a study of how householders personalize their domestic vacuuming robot, iRobot's Roomba". In particular, we build on Blom and Monk's [3] theory of personalization that argues that personalization does not only ...
    • Planning in logistics: a survey 

      Kolhe, Pushkar; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2010-09)
      Planning is an essential part of any logistics system. The paper tries to generalize the view of a logistics planner by framing it as a knapsack problem. We show how the various variants of the knapsack problem compare for ...
    • 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 ...
    • 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 ...