Alexander J. B. Trevor

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— We present an extension to our feature based mapping technique that allows for the use of planar surfaces such as walls, tables, counters, or other planar surfaces as landmarks in our mapper. These planar surfaces are measured both in 3D point clouds, as well as 2D laser scans. These sensing modalities compliment each other well, as they differ(More)
Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can significantly simplify operation of a mobile platform. We present methods for 3utomHted recognition and classification of SI)aceS into(More)
— Complex and structured landmarks like objects have many advantages over low-level image features for semantic mapping. Low level features such as image corners suffer from occlusion boundaries, ambiguous data association, imaging artifacts, and viewpoint dependance. Artificial landmarks are an unsatisfactory alternative because they must be placed in the(More)
— Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot's control and sensor measurements. In structured environments, such as human environments, we might have additional domain knowledge that could be applied to produce higher quality mapping results. We present a method for using virtual(More)
— We present a 3D edge detection approach for RGB-D point clouds and its application in point cloud registration. Our approach detects several types of edges, and makes use of both 3D shape information and photometric texture information. Edges are categorized as occluding edges, occluded edges, boundary edges, high-curvature edges, and RGB edges. We(More)
— Simultaneous Localization and Mapping (SLAM) is not a problem with a one-size-fits-all solution. The literature includes a variety of SLAM approaches targeted at different environments , platforms, sensors, CPU budgets, and applications. We propose OmniMapper, a modular multimodal framework and toolbox for solving SLAM problems. The system can be used to(More)
— We present an interactive object modeling and labeling system for service robots. The system enables a user to interactively create object models for a set of objects. Users also provide a label for each object, allowing it to be referenced later. Interaction with the robot occurs via a combination of a smartphone UI and pointing gestures.
— Object discovery and modeling have been widely studied in the computer vision and robotics communities. SLAM approaches that make use of objects and higher level features have also recently been proposed. Using higher level features provides several benefits: these can be more discrim-inative, which helps data association, and can serve to inform service(More)
This paper will explore the relationship between sensory accuracy and Simultaneous Localization and Mapping (SLAM) performance. As inexpensive robots are developed with commodity components, the relationship between performance level and accuracy will need to be determined. Experiments are presented in this paper which compare various aspects of sensor(More)