Now showing items 1-20 of 82

    • Acquiring a shared environment representation 

      Topp, Elin A.; Christensen, Henrik I.; Eklundh, Kerstin Severinson (Georgia Institute of TechnologyAssociation of Computing Machinery, 2006)
      Interacting with a domestic service robot implies the existence for a joint environment model for a user and a robot. We present a pilot study that investigates, how humans present a familiar environment to a mobile robot. ...
    • European Robot Symposium - 2006 

      Christensen, Henrik I.; Georgia Institute of Technology. College of Computing; Georgia Institute of Technology. Center for Robotics and Intelligent Machines (Georgia Institute of TechnologySpringer Verlag, 2006-03)
    • Exploiting Distinguishable Image Features in Robotic Mapping and Localization 

      Jensfelt, Patric; Folkesson, John; Kragic, Danica; Christensen, Henrik I. (Georgia Institute of TechnologySpringer Verlag, 2006-03)
      Simultaneous localization and mapping (SLAM) is an important research area in robotics. Lately, systems that use a single bearing-only sensors have received significant attention and the use of visual sensors have been ...
    • Clarification dialogues in human-augmented mapping 

      Kruijff, Geert-Jan M.; Zender, Hendrik; Jensfelt, Patric; Christensen, Henrik (Georgia Institute of TechnologyAssociation for Computing Machinery, 2006-03)
      An approach to dialogue based interaction for resolution of ambiguities encountered as part of Human-Augmented Mapping (HAM) is presented. The paper focuses on issues related to spatial organisation and localisation. The ...
    • Cognitive Vision - Sampling the Spectrum 

      Christensen, Henrik I.; Nagel, H. - H.; Georgia Institute of Technology. College of Computing; Georgia Institute of Technology. Center for Robotics and Intelligent Machines (Georgia Institute of TechnologySpringer Verlag, 2006-04)
    • Pay Attention When Selecting Features 

      Frintrop, Simone; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-08)
      In this paper, we propose a new, hierarchical approach to landmark selection for simultaneous robot localization and mapping based on visual sensors: a biologically motivated attention system finds salient regions of ...
    • Long-term study of portable field robots in urban terrain 

      Lundberg, Carl; Christensen, Henrik; Reinhold, Roger (Georgia Institute of TechnologyAssociation for Computing Machinery, 2006-08)
    • 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 ...
    • What's in the gap? Interaction transitions that make HRI work 

      Hüttenrauch, Helge; Eklundh, Kerstin Severinson; Green, Anders; Topp, Elin A.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-09)
      This paper presents an in-depth analysis from a Human Robot Interaction (URI) study on spatial positioning and interaction episode transitions. Subjects showed a living room to a robot to teach it new places and objects. ...
    • Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics 

      Bratt, Mattias; Smith, Christian; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused ...
    • 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 ...
    • Measurement Errors in Visual Servoing 

      Kryki, V.; Kragic, Danica; Christensen, Henrik I. (Georgia Institute of TechnologyElsevier, 2006-10)
      This paper addresses the issue of measurement errors in visual servoing. The error characteristics of the vision based state estimation and the associated uncertainty of the control are investigated. The major contribution ...
    • 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 ...
    • 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 ...
    • Attentional Landmark Selection for Visual SLAM 

      Frintrop, Simone; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      In this paper, we introduce a new method to automatically detect useful landmarks for visual SLAM. A biologically motivated attention system detects regions of interest which “pop-out” automatically due to strong contrasts ...
    • Topological Modelling for Human Augmented Mapping 

      Topp, Elin A.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is ...
    • 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 ...
    • Darwinian embodied evolution of the learning ability for survival 

      Elfwing, Stefan; Uchibe, Eiji; Doya, Kenji; Christensen, Henrik (Georgia Institute of TechnologySageInternational Society for Adaptive Behavior, 2007)
      In this article we propose a framework for performing embodied evolution with a limited number of robots, by utilizing time-sharing in subpopulations of virtual agents hosted in each robot. Within this framework, we explore ...
    • Reactive Tuning of Target Estimate Accuracy in Multi-Sensor Data Fusion 

      Xiong, Ning; Christensen, Henrik I.; Svensson, Per (Georgia Institute of TechnologyTaylor & Francis, 2007-01)
      Dealing with conflicting and target-specific requirements is an important issue in multi-sensor and multi-target tracking. This paper aims to allocate sensing resources among various targets in reaction to individual ...
    • Graphical SLAM for Outdoor Applications 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyJohn Wiley & Sons, 2007-02)
      Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. ...