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325 results on '"Wyeth, Gordon"'

1. Robot Navigation in Unseen Spaces using an Abstract Map

Author

Talbot, Ben, Dayoub, Feras, Corke, Peter, and Wyeth, Gordon

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future., Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to software

Published
2020
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2. ARTiS: Appearance-based Action Recognition in Task Space for Real-Time Human-Robot Collaboration

Author

Eich, Markus, Shirazi, Sareh, and Wyeth, Gordon

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object affordances, semantics or understanding of actions in terms of pre- and post-conditions. These approaches often require hand-coded a priori knowledge, time- and resource-intensive or supervised learning techniques. We propose to reframe this problem as an appearance-based place recognition problem. In our framework, we regard sequences of visual images of human actions as a map in analogy to the visual place recognition problem. Observing the task for the second time, our approach is able to recognize pre-observed actions in a one-shot learning approach and is thereby able to recognize the current observation in the task space. We propose two new methods for creating and aligning action observations within a task map. We compare and verify our approaches with real data of humans assembling several types of IKEA flat packs.

Published
2016

3. Place Categorization and Semantic Mapping on a Mobile Robot

Author

Sünderhauf, Niko, Dayoub, Feras, McMahon, Sean, Talbot, Ben, Schulz, Ruth, Corke, Peter, Wyeth, Gordon, Upcroft, Ben, and Milford, Michael

Subjects
Computer Science - Robotics
Abstract

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module.

Published
2015

4. Spatial Information Recognition in Web Documents Using a Semi-supervised Machine Learning Method

Author

Lie, Hendi, Nayak, Richi, Wyeth, Gordon, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Weikum, Gerhard, Series Editor, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bouguettaya, Athman, editor, Gao, Yunjun, editor, Klimenko, Andrey, editor, Chen, Lu, editor, Zhang, Xiangliang, editor, Dzerzhinskiy, Fedor, editor, Jia, Weijia, editor, Klimenko, Stanislav V., editor, and Li, Qing, editor

Published
2017
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6. Robotics for Sustainable Broad-Acre Agriculture

Author

Ball, David, Ross, Patrick, English, Andrew, Patten, Tim, Upcroft, Ben, Fitch, Robert, Sukkarieh, Salah, Wyeth, Gordon, Corke, Peter, Siciliano, Bruno, Series editor, Khatib, Oussama, Series editor, Mejias, Luis, editor, Corke, Peter, editor, and Roberts, Jonathan, editor

Published
2015
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7. Finding Within-Organisation Spatial Information on the Web

Author

Hou, Jun, Schulz, Ruth, Wyeth, Gordon, Nayak, Richi, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Pfahringer, Bernhard, editor, and Renz, Jochen, editor

Published
2015
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10. Robot Building for Preschoolers

Author

Wyeth, Peta, Wyeth, Gordon, Carbonell, Jaime G., editor, Siekmann, J\'org, editor, Visser, Ubbo, editor, Ribeiro, Fernando, editor, Ohashi, Takeshi, editor, and Dellaert, Frank, editor

Published
2008
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11. Spatial Mapping and Map Exploitation: A Bio-inspired Engineering Perspective

Author

Milford, Michael, Wyeth, Gordon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Winter, Stephan, editor, Duckham, Matt, editor, Kulik, Lars, editor, and Kuipers, Ben, editor

Published
2007
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14. Cerebellar Augmented Joint Control for a Humanoid Robot

Author

Kee, Damien, Wyeth, Gordon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Nardi, Daniele, editor, Riedmiller, Martin, editor, Sammut, Claude, editor, and Santos-Victor, José, editor

Published
2005
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15. Distributed Control of Gait for a Humanoid Robot

Author

Wyeth, Gordon, Kee, Damien, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Polani, Daniel, editor, Browning, Brett, editor, Bonarini, Andrea, editor, and Yoshida, Kazuo, editor

Published
2004
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16. Multi-robot Control in Highly Dynamic, Competitive Environments

Author

Ball, David, Wyeth, Gordon, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Polani, Daniel, editor, Browning, Brett, editor, Bonarini, Andrea, editor, and Yoshida, Kazuo, editor

Published
2004
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17. Scaffolding Children’s Robot Building and Programming Activities

Author

Wyeth, Peta, Venz, Mark, Wyeth, Gordon, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Polani, Daniel, editor, Browning, Brett, editor, Bonarini, Andrea, editor, and Yoshida, Kazuo, editor

Published
2004
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19. ViperRoos 2001

Author

Chang, Mark M., Wyeth, Gordon F., Goos, G., editor, Hartmanis, J., editor, van Leeuwen, J., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Birk, Andreas, editor, Coradeschi, Silvia, editor, and Tadokoro, Satoshi, editor

Published
2002
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21. UQ CrocaRoos: An Initial Entry to the Simulation League

Author

Wyeth, Gordon, Venz, Mark, Mayfield, Helen, Akiyama, Jun, Heathwood, Rex, Goos, G., editor, Hartmanis, J., editor, van Leeuwen, J., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Birk, Andreas, editor, Coradeschi, Silvia, editor, and Tadokoro, Satoshi, editor

Published
2002
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24. ViperRoos 2000

Author

Chang, Mark M., Browning, Brett, Wyeth, Gordon F., Stone, Peter, editor, Balch, Tucker, editor, and Kraetzschmar, Gerhard, editor

Published
2001
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25. Overview of Robocup-2000

Author

Stone, Peter, Asada, Minoru, Balch, Tucker, Fujita, Masahiro, Kraetzschmar, Gerhard, Lund, Henrik, Scerri, Paul, Tadokoro, Satoshi, Wyeth, Gordon, Stone, Peter, editor, Balch, Tucker, editor, and Kraetzschmar, Gerhard, editor

Published
2001
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34. Robot navigation in unseen spaces using an abstract map

Author

Talbot, Ben, Dayoub, Feras, Corke, Peter, Wyeth, Gordon, Talbot, Ben, Dayoub, Feras, Corke, Peter, and Wyeth, Gordon

Abstract

Human navigation in built environments depends on symbolic spatial information which has unrealized potential to enhance robot navigation capabilities. Information sources, such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open-source implementation to encourage future work in the area of symbolic navigation. The symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. This article concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.

Published
2021

36. Mapping a suburb with a single camera using a biologically inspired SLAM system

Author

Milford, Michael J. and Wyeth, Gordon F.

Subjects
Cameras -- Usage, Maps -- Research, Robotics -- Research, Image processing -- Methods, Hippocampus (Brain) -- Models
Abstract

This paper describes a biologically inspired approach to vision-only simultaneous localization and mapping (SLAM) on ground-based platforms. The core SLAM system, dubbed RatSLAM, is based on computational models of the rodent hippocampus, and is coupled with a lightweight vision system that provides odometry and appearance information. RatSLAM builds a map in an online manner, driving loop closure and relocalization through sequences of familiar visual scenes. Visual ambiguity is managed by maintaining multiple competing vehicle pose estimates, while cumulative errors in odometry are corrected after loop closure by a map correction algorithm. We demonstrate the mapping performance of the system on a 66 km car journey through a complex suburban road network. Using only a web camera operating at 10 Hz, RatSLAM generates a coherent map of the entire environment at real-time speed, correctly closing more than 51 loops of up to 5 km in length. Index Terms--Bio-inspired robotics, monocular vision simultaneous localization and mapping (SLAM).

Published
2008

50. ViperRoos 2000

Author

Chang, Mark M., primary, Browning, Brett, additional, and Wyeth, Gordon F., additional

Published
2001
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