Now showing items 1-20 of 138

    • 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 Reconstruction of Underwater Structures 

      Beall, Chris; Lawrence, Brian J.; Ila, Viorela; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs ...
    • 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, ...
    • Anticipating Human Actions for Collaboration in the Presence of Task and Sensor Uncertainty 

      Hawkins, Kelsey P.; Bansal, Shray; Vo, Nam N.; Bobick, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      A representation for structured activities is developed that allows a robot to probabilistically infer which task actions a human is currently performing and to predict which future actions will be executed and when they ...
    • Anticipation in Robot Motion 

      Gielniak, Michael J.; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots that display anticipatory motion provide their human partners with greater time to respond in interactive tasks because human partners are aware of robot intent earlier. We create anticipatory motion autonomously ...
    • Atlanta World: An Expectation Maximization Framework for Simultaneous Low-level Edge Grouping and Camera Calibration in Complex Man-made Environments 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-06)
      Edges in man-made environments, grouped according to vanishing point directions, provide single-view constraints that have been exploited before as a precursor to both scene understanding and camera calibration. A ...
    • Augmenting Bag-of-Words: Data-Driven Discovery of Temporal and Structural Information for Activity Recognition 

      Bettadapura, Vinay; Schindler, Grant; Plötz, Thomas; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We present data-driven techniques to augment Bag of Words (BoW) models, which allow for more robust modeling and recognition of complex long-term activities, especially when the structure and topology of the activities ...
    • Batch versus Interactive Learning by Demonstration 

      Zang, Peng; Tian, Runhe; Thomaz, Andrea L.; Isbell, Charles L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      Agents that operate in human environments will need to be able to learn new skills from everyday people. Learning from demonstration (LfD) is a popular paradigm for this. Drawing from our interest in Socially Guided ...
    • Bayesian Inference in the Space of Topological Maps 

      Ranganathan, Ananth; Menegatti, Emanuele; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-02)
      While probabilistic techniques have previously been investigated extensively for performing inference over the space of metric maps, no corresponding general purpose methods exist for topological maps. We present the ...
    • Bayesian Surprise and Landmark Detection 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer ...
    • Beyond Sentiment: The Manifold of Human Emotions 

      Kim, Seungyeon; Li, Fuxin; Lebanon, Guy; Essa, Irfan A. (Georgia Institute of TechnologyarXiv, 2012-02)
      Sentiment analysis predicts the presence of positive or negative emotions in a text document. In this paper we consider higher dimensional extensions of the sentiment concept, which represent a richer set of human emotions. ...
    • Calibration-Free Rolling Shutter Removal 

      Grundmann, Matthias; Kwatra, Vivek; Castro, Daniel; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-04)
      We present a novel algorithm for efficient removal of rolling shutter distortions in uncalibrated streaming videos. Our proposed method is calibration free as it does not need any knowledge of the camera used, nor does ...
    • Canine Reachability of Snout-based Wearable Inputs 

      Valentin, Giancarlo; Alcaidinho, Joelle; Friel, Larry; Zeagler, Clint; Jackson, Melody; Starner, Thad (Georgia Institute of Technology, 2014-09)
      We designed an experiment with the goal of assessing wearable reachability for canines. We investigated the effect of placement on the ability of dogs to reach on-body interfaces with their snouts. In our pilot study, seven ...
    • Computational Benefits of Social Learning Mechanisms: Stimulus Enhancement and Emulation 

      Cakmak, Maya; DePalma, Nick; Arriaga, Rosa; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2009)
      Social learning in robotics has largely focused on imitation learning. In this work, we take a broader view of social learning and are interested in the multifaceted ways that a social partner can influence the learning ...
    • 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 ...
    • Data-Driven MCMC for Learning and Inference in Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyAAAI Press, 2005-07)
      Switching Linear Dynamic System (SLDS) models are a popular technique for modeling complex nonlinear dynamic systems. An SLDS has significantly more descriptive power than an HMM, but inference in SLDS models ...
    • DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping 

      Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      This paper presents an consistent decentralized data fusion approach for robust multi-robot SLAM in dan- gerous, unknown environments. The DDF-SAM 2.0 approach extends our previous work by combining local and neigh- borhood ...
    • DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs 

      Cunningham, Alexander; Paluri, Manohar; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We address the problem of multi-robot distributed SLAM with an extended Smoothing and Mapping (SAM) approach to implement Decentralized Data Fusion (DDF). We present DDF-SAM, a novel method for efficiently and robustly ...
    • Decoding Children’s Social Behavior 

      Rehg, James M.; Abowd, Gregory D.; Rozga, Agata; Romero, Mario; Clements, Mark A.; Sclaroff, Stan; Essa, Irfan; Ousley, Opal Y.; Li, Yin; Kim, Chanho; Rao, Hrishikesh; Kim, Jonathan C.; Presti, Liliana Lo; Zhang, Jianming; Lantsman, Denis; Bidwell, Jonathan; Ye, Zhefan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We introduce a new problem domain for activity recognition: the analysis of children’s social and communicative behaviors based on video and audio data. We specifically target interactions between children aged 1–2 ...