Computer Engineering Commons^™

Selection And Recognition Of Landmarks Using Terrain Spatiograms, Damian M. Lyons

Faculty Publications

A team of robots working to explore and map an area may need to share information about landmarks so as to register their local maps and to plan effective exploration strategies. In previous papers we have introduced a combined image and spatial representation for landmarks: terrain spatiograms. We have shown that for manually selected views, terrain spatiograms provide an effective, shared representation that allows for occlusion filtering and a combination of multiple views.

In this paper, we present a landmark saliency architecture (LSA) for automatically selecting candidate landmarks. Using a dataset of 21 outdoor stereo images generated by LSA, we …

Detection And Filtering Of Landmark Occlusions Using Terrain Spatiograms, Damian M. Lyons

Faculty Publications

A team of robots cooperating to quickly produce a map needs to share landmark information between members so that the local maps can be accurately merged. However, the appearance of landmarks as seen by members of the team can change dramatically due to the phenomenon of occlusion.

We have previously presented an approach to landmark representation using Terrain Spatiograms – an extension to image spatiograms in which the spatial information relates to the scene rather than the image. Because this representation preserves depth structure, it is possible to identify and filter potential occlusions.

We present an approach to identifying and …

A Visual Imagination Approach To Cognitive Robotics, Damian M. Lyons, Sirhan Chaudhry, D. Paul Benjamin

Faculty Publications

No abstract provided.

Integrating Perception And Problem Solving To Predict Complex Object Behaviors, Damian M. Lyons, Sirhan Chaudhry, Marius Agica, John Vincent Monaco

Faculty Publications

One of the objectives of Cognitive Robotics is to construct robot systems that can be directed to achieve realworld goals by high-level directions rather than complex, low-level robot programming. Such a system must have the ability to represent, problem-solve and learn about its environment as well as communicate with other agents. In previous work, we have proposed ADAPT, a Cognitive Architecture that views perception as top-down and goaloriented and part of the problem solving process.

Our approach is linked to a SOAR-based problem-solving and learning framework. In this paper, we present an architecture for the perceptive and world modelling components …

Synchronizing Real And Predicted Synthetic Video Imagery For Localization Of A Robot To A 3d Environment, Damian M. Lyons, Sirhan Chaudhry, D. Paul Benjamin

Faculty Publications

A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In previous work, we presented an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduced an approach to compare real and simulated imagery using an affine image transformation that maps the real scene to the synthetic scene in a …