Now showing items 1-20 of 274

    • 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, ...
    • Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints 

      Peasley, Brian; Birchfield, Stan; Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual ...
    • An Analysis of Displays for Probabilistic Robotic Mission Verification Results 

      O‘Brien, Matthew; Arkin, Ronald C. (Georgia Institute of Technology, 2016)
      An approach for the verification of autonomous behavior-based robotic missions has been developed in a collaborative effort between Fordham University and Georgia Tech. This paper addresses the step after verification, how ...
    • 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 ...
    • Assessment of Working Dog Suitability from Quantimetric Data 

      Alcaidinho, Joelle; Valentin, Giancarlo; Yoder, Nate; Tai, Stephanie; Mundell, Paul; Jackson, Melody (Georgia Institute of Technology, 2014-10)
      We propose new approaches to assessing the suitability of potential working dogs for a given occupation. The main focus is placed on continuously-recording technology that does not rely on constant human observation. ...
    • 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 ...
    • Attitude Heading Reference System with Rotation-Aiding Visual Landmarks 

      Beall, Chris; Ta, Duy-Nguyen; Ok, Kyel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      In this paper we present a novel vision-aided attitude heading reference system for micro aerial vehicles (MAVs) and other mobile platforms, which does not rely on known landmark locations or full 3D map estimation as ...
    • 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 ...
    • Auto-Directed Video Stabilization with Robust L1 Optimal Camera Paths 

      Grundmann, Matthias; Kwatra, Vivek; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      We present a novel algorithm for automatically applying constrainable, L1-optimal camera paths to generate stabilized videos by removing undesired motions. Our goal is to compute camera paths that are composed of constant, ...
    • Automated Assessment of Surgical Skills Using Frequency Analysis 

      Zia, Aneeq; Sharma, Yachna; Bettadapura, Vinay; Sarin, Eric L.; Clements, Mark A.; Essa, Irfan (Georgia Institute of Technology, 2015)
      We present an automated framework for visual assessment of the expertise level of surgeons using the OSATS (Objective Structured Assessment of Technical Skills) criteria. Video analysis techniques for extracting motion ...
    • Automated surgical OSATS prediction from videos 

      Sharma, Yachna; Plötz, Thomas; Hammerla, Nils; Mello, Sebastian; McNaney, Roisin; Olivier, Patrick; Deshmukh, Sandeep; McCaskie, Andrew; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-04)
      The assessment of surgical skills is an essential part of medical training. The prevalent manual evaluations by expert surgeons are time consuming and often their outcomes vary substantially from one observer to another. ...
    • Automatic Task Decomposition and State Abstraction from Demonstration 

      Cobo, Luis C.; Isbell, Charles L., Jr.; Thomaz, Andrea L. (Georgia Institute of TechnologyInternational Foundation for Autonomous Agents and Multiagent Systems, 2012-06)
      Both Learning from Demonstration (LfD) and Reinforcement Learning (RL) are popular approaches for building decision-making agents. LfD applies supervised learning to a set of human demonstrations to infer and imitate the ...
    • Autonomous Environment Manipulation to Assist Humanoid Locomotion 

      Levihn, Martin; Nishiwaki, Koichi; Kagami, Satoshi; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also ...
    • 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 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 ...
    • The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-Based Reasoning 

      Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)
      By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered ...
    • 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. ...