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Mobile Robot Navigation For Person Following In Indoor Environments, Ninad Pradhan
Mobile Robot Navigation For Person Following In Indoor Environments, Ninad Pradhan
All Dissertations
Service robotics is a rapidly growing area of interest in robotics research. Service robots inhabit human-populated environments and carry out specific tasks. The goal of this dissertation is to develop a service robot capable of following a human leader around populated indoor environments. A classification system for person followers is proposed such that it clearly defines the expected interaction between the leader and the robotic follower. In populated environments, the robot needs to be able to detect and identify its leader and track the leader through occlusions, a common characteristic of populated spaces. An appearance-based person descriptor, which augments the …
Interactive Perception For Cluttered Environments, Robert Willimon
Interactive Perception For Cluttered Environments, Robert Willimon
All Theses
Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of extracting and classifying unknown objects within a cluttered environment, such as found in recycling and service robot applications. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to sift through the pile and classify each object so that it can be studied further. One object should be removed at a time with minimal disturbance to the other objects. We propose …
Vision-Based Detection, Tracking And Classification Of Vehicles Using Stable Features With Automatic Camera Calibration, Neeraj Kanhere
Vision-Based Detection, Tracking And Classification Of Vehicles Using Stable Features With Automatic Camera Calibration, Neeraj Kanhere
All Dissertations
A method is presented for segmenting and tracking vehicles on highways using a camera that is relatively low to the ground. At such low angles, 3D perspective effects cause significant appearance changes over time, as well as severe occlusions by vehicles in neighboring lanes. Traditional approaches to occlusion reasoning assume that the vehicles initially appear well-separated in the image, but in our sequences it is not uncommon for vehicles to enter the scene partially occluded and remain so throughout. By utilizing a 3D perspective mapping from the scene to the image, along with a plumb line projection, a subset of …