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Full-Text Articles in Engineering
Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo
Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo
Dissertations, Theses, and Capstone Projects
We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Dissertations, Master's Theses and Master's Reports
Application of mobile robots to microgrid formation has value for disaster response and service of forward operating bases. This thesis describes the development, testing and demonstration of broad effort across multiple disciplines to enable outdoor positioning and connection of mobile microgrids for the first time. This work includes an outdoor waypoint controller for a UGV agent, specifically the Clearpath Husky. It details sensor fusion of 2D LiDAR and stereo vision, and fusion of odometry sources using an Extended Kalman Filter. Development of these software tools entails integration of many of the packages available through the Robot Operating System (ROS), with …
Perception Based Misunderstandings In Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Perception Based Misunderstandings In Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Articles
In a situated dialogue, misunderstandings may arise if the participants perceive or interpret the environment in different ways. In human-computer dialogue this may be due the sensor errors. We present an experiment system and a series of experiments in which we investigate this problem.
Clarification Dialogues For Perception-Based Errors In Situated Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Clarification Dialogues For Perception-Based Errors In Situated Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Conference papers
We present an experiment about situated human-computer interaction. Participants interacted with a simulated robot system to complete a series of tasks in a situated environment. Errors were introduced into the robot's perception to produce misunderstandings. We recorded the interactions and attempt to identify strategies the participants used to solve the arising problems.
I Am The Robot. Are You?, Rachel Michelle Feldman
I Am The Robot. Are You?, Rachel Michelle Feldman
Honors Theses
I was originally inspired by a previous project in a 3D modeling class. For my final project, I designed two robots; male and female; who’s naked bodied reflected the presence of technological communications in society and lack of face-to-face interactions. I displayed the robots in a variety of sexual positions, which appear cute or sweet to the viewer because of the toon-shader effect. The toon-shader effect makes the 3D models look like cartoons. I loved combining the idea of technology, robotics, and sex into one. To this day, the poster of the robots in my room always gets a response. …