Henrik I. Christensen

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— In this paper we describe the problem of Visual Place Categorization (VPC) for mobile robotics, which involves predicting the semantic category of a place from image measurements acquired from an autonomous platform. For example, a robot in an unfamiliar home environment should be able to recognize the functionality of the rooms it visits, such as(More)
— An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geometric model. Through use of vision and place recognition a number of opportunities open up in terms(More)
Automatic grasp planning for robotic hands is a difficult problem because of the huge number of possible hand configurations. However, humans simplify the problem by choosing an appropriate prehensile posture appropriate for the object and task to be performed. By modeling an object as a set of shape primitives, such as spheres, cylinders , cones and boxes,(More)
— Localization and context interpretation are two key competences for mobile robot systems. Visual place recognition , as opposed to purely geometrical models, holds promise of higher flexibility and association of semantics to the model. Ideally , a place recognition algorithm should be robust to dynamic changes and it should perform consistently when(More)
—In this paper a sensor fusion scheme, called triangu-lation-based fusion (TBF) of sonar data, is presented. This algorithm delivers stable natural point landmarks, which appear in practically all indoor environments, i.e., vertical edges like door posts, table legs, and so forth. The landmark precision is in most cases within centimeters. The TBF algorithm(More)
An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Recent advances in vision have made this modality a viable alternative to the traditional range sensors and visual place recognition algorithms emerged as a(More)
sensor parameters to more effectively solve a particular We present an active object recognition strategy which com-vision task. One aspect of active vision is the use of an bines the use of an attention mechanism for focusing the search attention mechanism to decide where in the image to for a 3D object in a 2D image, with a viewpoint control strategy(More)