We describe a framework to enable an autonomous mobile robot to recognize locations, with applica... more We describe a framework to enable an autonomous mobile robot to recognize locations, with applications to topological mapping and loop closing. Our system encapsulates various visual feature “ridges” into location “fingerprints” which can be stored as nodes in a topological map or used to compare with the map for localization. One of the ridge features we use is SIFT, the Scale Invariant Feature Transform, which adds to the system the ability to recognize interesting locations with its keypoints. SIFT keypoint extraction performs rather poorly, however, in areas of low contrast. Therefore, we complemented it with other machine vision techniques including object recognition, object detection, straight line statistics, color histograms and text recognition. We call the system SPLINTR, Spatial PLace recognition IN a Topologically mapping Robot. Here we describe the SPLINTR system as a whole and the visual feature ridges; experimental results are presented showing SPLINTR’s use in robot...
This paper describes our virtual reality research prototype for supporting a semiautonomous wheel... more This paper describes our virtual reality research prototype for supporting a semiautonomous wheelchair. The VR component enables the “HelpStar” feature, which provides a user who is visually impaired with mobility independence. Our “HelpStar” enabled semi-autonomous wheelchair functions more like a personal assistant, allowing much greater user independence. When the user finds them self in an unforeseen circumstance, the “HelpStar” feature can be activated to allow a remote operator to use VR technologies to provide helpful navigational instructions or to send commands directly to the wheelchair. This paper demonstrates the successful integration of VR technologies with semi-autonomous remote vehicles for assistive support.
This paper describes a multi-robot system designed to use Bluetooth wireless communication to sol... more This paper describes a multi-robot system designed to use Bluetooth wireless communication to solve the “Honeybee” task. The Honeybee task is a simple search and navigation problem that requires a “guide” robot to lead another “blind” robot to a specific target within the environment. Topics discussed include advantages and disadvantages of using Bluetooth in robotics, as well as a variety of behaviors required to solve the Honeybee task.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates the architectural repetition in building structures to produce realistic 3D models. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to generate a virtual map. RMBL3D is designed to be the visualization program of an autonomous mapping robot. The program takes in a description of the map in the form of character symbols representing objects in the environment and reproduces the 3D version of the map, one that can be explored and navigated by a user.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates architectural repetition in building structures to produce realistic 3D models of environments. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to build a virtual map. The program takes in a description of the map in the form of character symbols representing objects in the environment and reproduces the 3D version of the map, one that can be explored and navigated by a user.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates the architectural repetition in building structures to produce realistic 3D models. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to generate a virtual map. RMBL3D is designed to
This paper describes a multi-robot system designed to use Bluetooth wireless communication to sol... more This paper describes a multi-robot system designed to use Bluetooth wireless communication to solve the "Honeybee" task. The Honeybee task is a simple search and navigation
We describe a framework to enable an autonomous mobile robot to recognize locations, with applica... more We describe a framework to enable an autonomous mobile robot to recognize locations, with applications to topological mapping and loop closing. Our system encapsulates various visual feature “ridges” into location “fingerprints” which can be stored as nodes in a topological map or used to compare with the map for localization. One of the ridge features we use is SIFT, the Scale Invariant Feature Transform, which adds to the system the ability to recognize interesting locations with its keypoints. SIFT keypoint extraction performs rather poorly, however, in areas of low contrast. Therefore, we complemented it with other machine vision techniques including object recognition, object detection, straight line statistics, color histograms and text recognition. We call the system SPLINTR, Spatial PLace recognition IN a Topologically mapping Robot. Here we describe the SPLINTR system as a whole and the visual feature ridges; experimental results are presented showing SPLINTR’s use in robot...
This paper describes our virtual reality research prototype for supporting a semiautonomous wheel... more This paper describes our virtual reality research prototype for supporting a semiautonomous wheelchair. The VR component enables the “HelpStar” feature, which provides a user who is visually impaired with mobility independence. Our “HelpStar” enabled semi-autonomous wheelchair functions more like a personal assistant, allowing much greater user independence. When the user finds them self in an unforeseen circumstance, the “HelpStar” feature can be activated to allow a remote operator to use VR technologies to provide helpful navigational instructions or to send commands directly to the wheelchair. This paper demonstrates the successful integration of VR technologies with semi-autonomous remote vehicles for assistive support.
This paper describes a multi-robot system designed to use Bluetooth wireless communication to sol... more This paper describes a multi-robot system designed to use Bluetooth wireless communication to solve the “Honeybee” task. The Honeybee task is a simple search and navigation problem that requires a “guide” robot to lead another “blind” robot to a specific target within the environment. Topics discussed include advantages and disadvantages of using Bluetooth in robotics, as well as a variety of behaviors required to solve the Honeybee task.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates the architectural repetition in building structures to produce realistic 3D models. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to generate a virtual map. RMBL3D is designed to be the visualization program of an autonomous mapping robot. The program takes in a description of the map in the form of character symbols representing objects in the environment and reproduces the 3D version of the map, one that can be explored and navigated by a user.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates architectural repetition in building structures to produce realistic 3D models of environments. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to build a virtual map. The program takes in a description of the map in the form of character symbols representing objects in the environment and reproduces the 3D version of the map, one that can be explored and navigated by a user.
In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, ... more In this paper, we describe a 3D modeling program called RMBL3D, Realistic Maps Built like Legos, which manipulates the architectural repetition in building structures to produce realistic 3D models. This paper details the features and aspects of the RMBL3D program and tests the viability of using 3D objects as building blocks to generate a virtual map. RMBL3D is designed to
This paper describes a multi-robot system designed to use Bluetooth wireless communication to sol... more This paper describes a multi-robot system designed to use Bluetooth wireless communication to solve the "Honeybee" task. The Honeybee task is a simple search and navigation
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