Welcome
to Mobile Robots. Please feel free to offer suggestions for improving the
course and this course web site. If you find a link that might be of interest
to the class, email the URL to me and I
might include it on this page.
Papers we are studying
|
Paper Code |
Title |
Reference |
Link |
Comments |
|
(A) Chilian 2009 |
Stereo Camera
Based Navigation of Mobile Robots on Rough Terrain |
Annett Chilian and Heiko Hirschm¨uller The 2009 IEEE/RSJ
International Conference on Intelligent Robots and Systems October 11-15,
2009 St. Louis, USA |
|
|
|
(B) Hirsch 2002a |
Real-Time Correlation-Based
Stereo Vision with Reduced Border Errors |
HEIKO HIRSCHMU¨ LLER,
PETER R. INNOCENT AND JON GARIBALDI International
Journal of Computer Vision 47(1/2/3), 229–246, 2002 |
Ref. 5 from paper
(A) |
|
|
(C) Hirsch 2002b |
Fast,
Unconstrained Camera Motion Estimation from Stereo without Tracking and
Robust Statistics |
Heiko Hirschm¨uller, Peter R. Innocent and Jon M.
Garibaldi 7th International
Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. Issue Date: 2-5 Dec. 2002. On page(s): 1099
- 1104 vol.2 |
Ref. 6 from paper
(A) |
|
|
(D) |
Optical Flow
Estimation |
David J. Fleet and Yair Weiss (2006). "Optical
Flow Estimation". In Paragios et al.. Handbook of Mathematical Models in Computer Vision.
Springer. ISBN 0387263713. |
Ref. 7 from
Wikipedia article on Optical Flow: http://en.wikipedia.org/wiki/Optical_flow |
|
|
(E) |
Evolution of
Neural Controllers for Robot Navigation in Human Environments |
Journal of Computer
Science 6 (8): 837-843, 2010, ISSN 1549-3636 © 2010 Science Publications |
|
|
|
(F) |
Navigation of a Mobile
Robot on the Temporal Development of the Optic Flow |
Anuj Dev,
Ben KrÖse, Frans Groen, IROS 97, pp. 558-563 |
|
|
|
(G) |
Passive
navigation |
Anna R. Bruss and Berthold K. P. Horn, Computer Vision, Graphics,
and Image Processing 21, 3-20
(1983) |
Ref. 1 in paper
(F) |
|
|
(H) |
The
interpretation of a moving retinal image |
H.C. Longuet-Higgins
and K. Prazdny, Proc. Roy. Soc. London Ser. B 208, 1980, 358-397 |
Ref. 9 in paper
(G) |
|
|
(I) |
A Biological Inspired
Visual Landmark Recognition Architecture |
Quoc Do; Jain, L, Digital Image Computing:
Techniques and Applications, 2009. DICTA '09 |
Selective
attention ART neural net used for navigation using visual landmarks. |
|
|
(J) |
Outdoor Visual
Path Following Experiments |
Albert Diosi, Anthony Remazeilles, Siniˇsa ˇSegvi´c and Francois Chaumette, Proceedings of the 2007 IEEE/RSJ InternationalConference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007 |
Video 1 (5 MB) Video 2 (50 MB) |
Related to HW 4 and HW 5 Diosi’s web page Follow-on paper in IEEE
Transactions on Intelligent Transportation Systems, Vol. 12, No. 3, September
2011 |
|
(K) |
A Combined Corner
and Edge Detector |
Chris Harris & Mike Stephens, In Proceedings of the Alvey Vision Conference, pages 147–152, 1988 |
Ref. 5 in paper
(J) |
|
|
(L) |
Good features to
Track |
Jianbo Shi and Carlo Tomasi.. In CVPR’94, pp.
593–600, 1994 |
Ref. 16 in paper
(J) |
|
|
(M) |
Real-time feature
tracking and outlier rejection with changes in illumination |
H. Jin, P. Favaro, and S. Soatto.
Real-time feature tracking and outlier rejection with changes in
illumination. In ICCV, volume 1, pp 684–689, 2001. |
Ref. 6 in paper
(J) |
|
|
(N) |
Local Invariant
Feature Detectors: A Survey |
T. Tuytelaars and K. Mikolajczyk, Foundations
and Trends in Computer Graphics and Vision Vol. 3, No. 3 (2007) 177–280 DOI: 10.1561/0600000017 |
PDF (104 pages) |
|
|
(O) |
A Model of Saliency-Based
Visual Attention for Rapid Scene Analysis |
Laurent Itti, Christof Koch, and Ernst Niebur, IEEE Transactions on Pattern Analysis and Machine
Intelligence, Vol. 20, No. 11, November 1998 |
Ref. 94 in paper
(N) |
|
|
(P) |
The Quest for
Artificial Intelligence - A History of Ideas and Achievements |
Nils J. Nilsson, Stanford
University, Web Version. http://ai.stanford.edu/~nilsson/QAI/qai-webpage.html |
|
|
|
(Q) |
Real-time
hierarchical POMDPs for autonomous robot navigation |
Amalia Foka
Robotics and Autonomous
Systems 55 (2007) 561–571 |
|
|
|
(R) |
Unfreezing the
Robot: Navigation in Dense, Interacting Crowds |
Peter Trautman
and Andreas Krause The 2010 IEEE/RSJ
International Conference on Intelligent Robots and
Systems October 18-22, 2010,
Taipei, Taiwan |
|
|
|
(Q) |
Markov Vision |
Andrew Blake |
|
LINKS
Google
Car (IEEE Spectrum)
Popular Mechanics $100
robot project from Feb. 12 issue
Depth from Stereo – PPT slides
Camera Calibration Toolkit for MATLAB link
Quadrotor swarm – GRASP lab video
Flying people in NYC video
Cooperative Grasping and Transport
using Quadrotors (GRASP lab) video
Robots for Humanity (PR2 Willow
Garage) video
Hodel Optic Flow 2005 files
DARPA
Robotics Challenge (released April 2012).
Pages 4-7 give the details of what the robot must do. Live link:
here
HOMEWORK
|
# |
Assigned |
Due |
Assignment |
Description |
|
|
||||
|
1 |
Fri.
1/20 |
Fri.
1/27 |
|
|
|
2 |
Mon.
1/30 |
Fri.
2/3 |
|
|
|
3 |
Mon.
2/6 |
Fri.
2/10 |
Army
BAA references |
Prepare
a briefing on a reference from the BAA topic “Landmark Navigation” Q
& A for the BAA topic link |
|
4 |
Fri.
2/17 |
Fri.
2/14 |
Find
the path in photos from Town Creek Park |
|
|
5 |
Wed.
2/29 |
Wed.
3/7 |
Navigate
along the paths found in HW 4 |
|
|
6 |
Wed.
3/21 |
Fri.
3/23 |
Summary
of a section from Paper (P) |
|
|
7 |
Fri.
4/6 |
Wed.
4/25 |
Tourbot code files: tourbot.zip
hallway photos List
of groups: html |
IN-CLASS EXERCISES
|
|
Date |
Assignment |
Comments / Description /
Solutions |
|
1 |
Wed.
Feb. 1 |
Paper
H |
|
|
2 |
Fri.
Feb. 3 |
Paper
H, cont’d. |
|
|
3 |
Wed.
Feb. 15 |
Essay |
Describe
at least 3 ways that current mobile robots can be improved. |
PROJECT
TEXTBOOK
SUPPORT (Autonomous Mobile Robots – 2nd Ed.)
Authors' textbook website (includes links to slides) - http://www.mobilerobots.ethz.ch/
SOFTWARE SUPPORT
MATLAB: There is no free portable version of MATLAB. The full version is
installed on the COE workstations. The bookstore sells the student version for
about $100. There are help and tutorials on the ECE software support pages
here:
http://eng.auburn.edu/programs/ece/students/computing-tutorials.html