Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and…
Robotics and Automation
In this subdiscipline:
38,804 papers
Popular papers
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Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in…
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The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously…
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The classical filtering and prediction problem is re-examined using the Bode- Shannon representation of random processes and the state transition method of analysis of dynamic systems. New results are: (1) The formulation and methods of solution of…
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This review investigates two recent developments in artificial intelligence and neural computation: learning from imitation and the development of humanoid robots. It is postulated that the study of imitation learning offers a promising route to…
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We are developing a dual panel breast-dedicated PET system using LSO scintillators coupled to position sensitive avalanche photodiodes (PSAPD). The charge output is amplified and read using NOVA RENA-3 ASICs. This paper shows that the coincidence…
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This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method. While there are still many practical issues to…
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A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and…
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In 1960, R.E. Kalman published his famous paper describing a recursive solution to the discrete-data linear filtering problem. Since that time, due in large part to ad- vances in digital computing, the Kalman filter has been the subject of extensive…
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This paper describes a probabilistic approach to the problem of recognizing places based on their appearance. The system we present is not limited to localization, but can determine that a new observation comes from a previously unseen place, and so…
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We propose a flexible technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need…
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Recently there has been increasing research on the development of autonomous flying vehicles.Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper…
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In robotic applications of visual simultaneous localization and mapping techniques, loop-closure detection and global localization are two issues that require the capacity to recognize a previously visited place from current camera measurements. We…
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This paper describes a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects. The frames may be known only indirectly through a series of…
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We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile…
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Original article can be found at: http://www.sciencedirect.com/science/journal/09218890 Copyright Elsevier B.V. DOI: 10.1016/S0921-8890(02)00372-X Full text of this article is not available in the UHRA
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This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown…
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This tutorial provides an introduction to Simultaneous Localisation and Mapping (SLAM) and the extensive research on SLAM that has been undertaken over the past decade. SLAM is the process by which a mobile robot can build a map of an environment…
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Consistency of image edge filtering is of prime importance for 3D interpretation of image sequences using feature tracking algorithms. To cater for image regions containing texture and isolated features, a combined corner and edge detector based on…
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This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing…
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