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 |
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|
(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 |
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|
|
(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 |
MATLAB code for Eq. 1 |
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 |
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|
(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 |
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|
(S) |
Markov Vision |
Andrew Blake |
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|
|
(T) |
Fast, Cheap And
Out Of Control: A Robot Invasion Of The Solar System |
Rodney A. Brooks And Anita
M. Flynn, Journal of The British Interplanetary Society, Vol. 42, pp 478-485, 1989 |
Basis for the documentary
Fast, Cheap And Out Of Control |
|
|
(U) |
Motion Capture
Using Joint Skeleton Tracking and Surface Estimation |
Gall
J., Stoll C., de Aguiar E., Theobalt
C., Rosenhahn B., and Seidel H.-P., IEEE Conference
on Computer Vision and Pattern Recognition (CVPR'09), 2009. |
web
page with video and code links Corresponding paper |
|
|
(V) |
Visual Odometery Tutorial |
Part I: The First 30 Years and Fundamentals, by Davide Scaramuzza and Friedrich Fraundorfer - IEEE Robotics & Automation Magazine • December 2011, pp. 80-92. Part II: Matching, Robustness, Optimization, and Applications, by Friedrich Fraundorfer and Davide Scaramuzza - IEEE Robotics & Automation Magazine • June 2012, pp 78 – 90. |
|
|
|
(W) |
A real-time
algorithm for mobile robot mapping with applications to multi-robot and 3D
mapping |
Thrun, S.; Burgard, W.; Fox, D. IEEE International Conference on Robotics and Automation (ICRA) 2000, v. 1, pp. 321-328 |
W.1 EM algorithm lecture
notes 2004 W.2 Original paper on
EM Ref. 9 in W.1, 1977. |
|
|
(X) |
RANGE - Robust
Autonomous Navigation in GPS-denied Environments |
Bachrach, et al., Journal of Field Robotics 2011 |
|
|
|
(Y) |
A Frontier-Based
Approach for Autonomous Exploration |
Brian Yamauchi, Proc. of the IEEE Int. Symposium on Computational Intelligence, Robotics and Automation, CIRA, 1997, pages 146–151 |
Ref. in Paper (X) Related pubs: ·
Adam Ray, M.S.
Thesis, Auburn University, 2005 ·
Y.1 Burgard ICRA 2000 (Ref. 49
in Adam Ray’s MS Thesis) |
|
|
(Z) |
Issues and
approaches in the design of collective autonomous agents |
Maja J. Mataric, Robotics and Autonomous Systems 16 (1995) 321-331. |
PDF – as
published by Elsevier (slightly easier to read, but poor figure quality) PDF – from author’s
website – original figure quality |
Ref. 31 in Adam
Ray’s MS thesis |
LINKS
Links
related to HW 5 – aerial vehicles etc.
Requirements
for Advanced Mobile Robots – Indoor Applications (developed in class
2/25/13)
Path photos 1 – 9 zipped and .robo
file used to extract path (optimized for p1)
Spring 12
HW assignment, photos, results – Navigation of path in Town Creek park – zip file
RANSAC toolbox for MATLAB on Github (Marco
Zuliani)
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
Cooperative
Grasping and Transport using Quadrotors (GRASP lab) video
Robots
for Humanity (PR2 Willow Garage) video
Hodel
Optic Flow 2005 files (zip)
From 60 Minutes Sunday Jan. 13, 2013 – Rodney Brooks and Robot Waltzes
About the movie Fast, Cheap, and Out of Control
Broun Hall Sumo Robot Competition Jan 12,
2013
Project requirements and due dates
Important
dates: Feb. 4 (proposals), Feb. 20
(briefing 1), Mar. 20 (briefing 2), April 19 (due)