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A Discriminative Approach to Robust Visual Place Recognition
(Georgia Institute of Technology, 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 ...
Visual Place Categorization: Problem, Dataset, and Algorithm
(Georgia Institute of Technology, 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. ...
Towards robust place recognition for robot localization
(Georgia Institute of Technology, 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 ...
Long-Term Study of a Portable Field Robot in Urban Terrain
(Georgia Institute of Technology, 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 ...
Design of an Office-Guide Robot for Social Interaction Studies
(Georgia Institute of Technology, 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 ...
Evaluation of Passing Distance for Social Robots
(Georgia Institute of Technology, 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 ...
Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping
(Georgia Institute of Technology, 2015-09)
Recent work on simultaneous trajectory estimation
and mapping (STEAM) for mobile robots has found success
by representing the trajectory as a Gaussian process. Gaussian
processes can represent a continuous-time trajectory, ...
SLAM using Visual Scan-Matching with Distinguishable 3D Points
(Georgia Institute of Technology, 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 ...
Bringing Together Human and Robotic Environment Representations – A Pilot Study
(Georgia Institute of Technology, 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 ...
iSAM: Incremental Smoothing and Mapping
(Georgia Institute of Technology, 2008)
We present incremental smoothing and mapping
(iSAM), a novel approach to the simultaneous localization and
mapping problem that is based on fast incremental matrix
factorization. iSAM provides an efficient and exact ...